Method, device and equipment for supervising safety distance in transformer substation and medium

Abstract

The invention discloses a method, a device and equipment for supervising a safe distance in a transformer substation and a medium. The method comprises the following steps: acquiring a positioning coordinate of a positioning terminal carried by a moving object in a geographic coordinate system in real time; determining a distance between the moving object and each electrified device in the target substation based on the positioning coordinate and a pre-stored central point coordinate of each electrified device in the target substation in a geographic coordinate system; determining target electrified equipment; acquiring a first coordinate of the contour vertex of the target electrified equipment under the geographic coordinate system and a second coordinate of the contour vertex of the moving object under the geographic coordinate system; determining a relative distance between the target electrified equipment and the moving object according to the first coordinate and the second coordinate; and based on the relative distance and a safe distance threshold corresponding to the target electrified equipment, determining whether the moving object is in a dangerous range of the target electrified equipment. According to the invention, the safety management and control capability of hot-line work of the transformer substation is improved, and the risk of transformer substation operators is reduced.

Description

Technical Field

[0001] This invention belongs to the field of substation monitoring technology, specifically relating to a method, device, equipment, and medium for monitoring safe distances within a substation. Background Technology

[0002] A substation is a place in a power system that transforms voltage and current, receives electrical energy, and distributes electrical energy. The substation in a power plant is a step-up substation, whose function is to step up the electrical energy generated by the generator and feed it into the high-voltage power grid.

[0003] Substations contain numerous high-voltage electrical devices, necessitating real-time monitoring of the location of any objects entering the substation to prevent them from getting too close to the equipment and causing safety accidents. Currently, the management of objects entering substations primarily relies on video surveillance. However, this method is overly simplistic and imprecise, failing to provide timely warnings and prevent avoidance of potential safety issues. Summary of the Invention

[0004] To overcome the problems of existing video surveillance methods, this invention provides a method for monitoring safe distances within substations. This invention can accurately and promptly determine the distance between a moving object and target energized equipment, and based on this distance, determine whether the moving object is within a danger zone, thereby improving the safety control capabilities for live-line work in substations.

[0005] This invention is achieved through the following technical solution:

[0006] A method for monitoring safe distances within a substation includes:

[0007] Real-time acquisition of the location coordinates of the positioning terminal carried by the moving object in the geographic coordinate system;

[0008] Based on the positioning coordinates and the pre-stored center point coordinates of each live device in the target substation in the geographic coordinate system, the distance between the moving object and each live device in the target substation is determined.

[0009] The nearest live device to the moving object is identified as the target live device;

[0010] Obtain the first coordinates of the outline vertices of the target energized device in the geographic coordinate system and the second coordinates of the outline vertices of the moving object in the geographic coordinate system;

[0011] The relative distance between the target electrical device and the moving object is determined based on the first and second coordinates.

[0012] Based on the relative distance and the safety distance threshold corresponding to the target energized device, it is determined whether the moving object is within the danger range of the target energized device.

[0013] Preferably, the method of the present invention further includes:

[0014] If the moving object is within the danger zone of the target energized equipment, an indication and alarm notification shall be issued;

[0015] And / or, send an alarm notification indicating an alarm to the moving object;

[0016] And / or, send an alarm notification indicating an alarm to the target energized equipment;

[0017] And / or, send alarm notifications indicating alarms to other clients.

[0018] Preferably, the center point coordinates of each energized device within the target substation of the present invention in the geographic coordinate system are determined through the following steps:

[0019] Obtain point cloud data of the target substation, and construct a three-dimensional model of the target substation based on the point cloud data;

[0020] A first spatial coordinate system is established with the center point of the three-dimensional model as the origin;

[0021] In the first coordinate system, determine the coordinate difference between the center point coordinates of each live device in the target substation and the center point coordinates of the model;

[0022] Based on the coordinates of the model center point in the geographic coordinate system and the coordinate difference between the center point coordinates of each live device and the model center point coordinates, the center point coordinates of each live device in the target substation in the geographic coordinate system are determined.

[0023] Preferably, the first coordinates of the outline point of the target energized device in the geographic coordinate system are determined by the following steps:

[0024] In the first spatial coordinate system, determine the coordinate difference between the contour vertex coordinates of the target energized device and the coordinates of the model center point;

[0025] Based on the coordinates of the model center point in the geographic coordinate system, the coordinate difference between the contour vertex coordinates of the target electrical equipment and the coordinates of the model center point, the first coordinates of the contour vertex of the target electrical equipment in the geographic coordinate system are determined.

[0026] Preferably, the second coordinates of the outline vertices of the moving object in the geographic coordinate system are determined by the following steps:

[0027] Obtain point cloud data of a moving object carrying the positioning terminal, and construct a contour model of the moving object based on the point cloud data of the moving object.

[0028] A second spatial coordinate system is established with the positioning terminal as the origin;

[0029] In the second spatial coordinate system, determine the coordinate difference between the contour vertex coordinates of the contour model of the moving object and the positioning coordinates of the positioning terminal;

[0030] Based on the positioning coordinates of the positioning terminal in the geographic coordinate system, the coordinate difference between the contour vertex coordinates of the contour model of the moving object and the positioning coordinates of the positioning terminal, the second coordinates of the contour vertex of the moving object in the geographic coordinate system are determined.

[0031] Preferably, the step of determining the relative distance between the target energized device and the moving object based on the first coordinate and the second coordinate comprises:

[0032] Based on multiple first coordinates and multiple second coordinates, multiple relative distances between the target energized device and the moving object are determined.

[0033] Preferably, the step of determining whether the moving object is within the danger range of the target energized device based on the relative distance and the safety distance threshold corresponding to the target energized device specifically includes the following sub-steps:

[0034] Obtain the shortest distance from among the multiple relative distances;

[0035] Determine whether the shortest distance is greater than the safe distance threshold;

[0036] If so, it is determined that the moving object is not within the danger zone of the target energized equipment;

[0037] Otherwise, the moving object is determined to be within the danger zone of the target energized equipment.

[0038] Secondly, the present invention proposes a monitoring device for safe distances within a substation, comprising:

[0039] The first acquisition module is used to acquire the location coordinates of the positioning terminal carried by the moving object in the geographic coordinate system in real time.

[0040] The first determining module determines the distance between the moving object and each electrical device in the target substation based on the positioning coordinates and the pre-stored center point coordinates of each live device in the target substation in the geographic coordinate system.

[0041] The target charged device determination module identifies the charged device closest to the moving object as the target charged device.

[0042] The second acquisition module is used to acquire the first coordinates of the outline vertex of the target energized device in the geographic coordinate system and the second coordinates of the outline vertex of the moving object in the geographic coordinate system.

[0043] The second determining module determines the relative distance between the target electrical device and the moving object based on the first coordinate and the second coordinate.

[0044] The third determining module determines whether the moving object is within the danger range of the target energized device based on the relative distance and the safety distance threshold corresponding to the target energized device.

[0045] Thirdly, the present invention provides an electronic device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described in the present invention.

[0046] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the present invention.

[0047] The present invention has the following advantages and beneficial effects:

[0048] This invention uses real-time positioning data from a positioning terminal carried by a moving object to determine the precise location information of the moving object within a substation. Based on the location information of the moving object, it determines the distance between the moving object and the energized equipment. Finally, based on the distance between the moving object and the energized equipment, it achieves safe control of live-line work in the substation, reduces the risk to substation workers, and solves the problems of poor safety risk control and high operational risks in existing substation operations. Attached Figure Description

[0049] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0050] Figure 1 This is a schematic diagram of the regulatory method flow of the present invention.

[0051] Figure 2 This is a schematic diagram of the equipment relationships within the target substation of the present invention.

[0052] Figure 3 This is a schematic diagram showing the relative positional relationship between the moving object and the target electrified device according to the present invention.

[0053] Figure 4This is a schematic diagram of the computer structure of the present invention.

[0054] Figure 5 This is a block diagram illustrating the principle of a monitoring device according to one embodiment.

[0055] Figure 6 This is a block diagram illustrating the principle of a monitoring device according to another embodiment. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0057] Example 1

[0058] A substation is a location in a power system that transforms voltage and current, receives electrical energy, and distributes it. Substations contain numerous high-voltage electrical devices, necessitating real-time monitoring of the location of any objects entering the substation to prevent them from getting too close to the high-voltage equipment and causing safety accidents. Currently, the management of objects entering substations is primarily based on video surveillance. However, this method is too simplistic and imprecise, failing to provide timely warnings and prevent avoidance of potential safety issues.

[0059] Based on this, this embodiment proposes a method for monitoring safe distances within substations. This embodiment determines the distance between moving objects and energized equipment in a timely and accurate manner, thereby determining whether the moving object is within a dangerous range, thus improving the safety supervision capability of substation operations.

[0060] like Figure 1 As shown, the method in this embodiment specifically includes the following steps:

[0061] Step S101: Real-time acquisition of the positioning coordinates of the positioning terminal carried by the moving object in the geographic coordinate system.

[0062] The moving objects in this embodiment include vehicles and personnel moving within the target substation; the positioning terminal can be a Beidou positioning terminal or a GPS positioning terminal; the positioning coordinates are three-dimensional coordinates, including longitude information, latitude information and altitude information.

[0063] Step S102: Based on the acquired positioning coordinates and the pre-stored center point coordinates of each live device in the target substation in the geographic coordinate system, determine the distance between the moving object and each live device in the target substation.

[0064] In this embodiment, the live equipment refers to devices within the target substation that pose a safety threat to inspection personnel and vehicles. In this step, the distance between the positioning terminal and the center of each live equipment is determined based on the positioning coordinates of the positioning terminal, the center point coordinates of each live equipment, and the distance calculation formula between the two points. Since the positioning terminal is carried by a moving object, the determined distance between the positioning terminal and the center of each live equipment is used as the distance between the moving object and each live equipment.

[0065] In this embodiment, the center coordinates of each live device in the target substation in the geographic coordinate system are determined through the following steps: acquiring point cloud data of the three-dimensional scene of the target substation, and constructing a three-dimensional model of the target substation based on the point cloud data; establishing a first spatial coordinate system based on the center point of the three-dimensional model, and determining the coordinate difference between the center coordinates of each live device in the target substation and the coordinates of the model center point in the first spatial coordinate system; and determining the center point coordinates of each live device in the target substation in the geographic coordinate system based on the coordinates of the center point of the three-dimensional model in the geographic coordinate system and the coordinate difference between the center point coordinates of each live device and the coordinates of the model center point.

[0066] In this embodiment, the process of determining the center point coordinates of each live device in the target substation under the geographic coordinate system is a coordinate transformation process, which specifically includes the following steps:

[0067] First, point cloud data of the target substation to be monitored is acquired through point cloud acquisition equipment, and a refined three-dimensional model is established based on the point cloud data of the target substation.

[0068] Then, a spatial coordinate system is established with the center point of the 3D model as the origin. This spatial coordinate system is a three-dimensional coordinate system, and the plane formed by the X-axis and Y-axis of this spatial coordinate system is parallel to the bottom surface of the target substation. This spatial coordinate system is the first spatial coordinate system, and the center of the model is the center of the target substation.

[0069] Subsequently, based on the established spatial coordinate system and the point cloud data of each powered device, the center coordinates of the device center of each powered device in the first spatial coordinate system can be determined. Based on the center coordinates of the device center of each powered device in the first spatial coordinate system and the origin coordinates of the first spatial coordinate system, the coordinate difference between the center coordinates of each powered device and the coordinates of the model center point in the first spatial coordinate system can be determined.

[0070] Finally, the three-dimensional coordinates of the model center point in the geographic coordinate system are obtained. For any live equipment, the coordinate difference between the center point coordinates of the live equipment and the model center point coordinates is added to the three-dimensional coordinates of the model center point in the geographic coordinate system to determine the center point coordinates of the live equipment in the geographic coordinate system. In this way, the center point coordinates of each live equipment in the target substation in the geographic coordinate system can be determined.

[0071] This embodiment uses, as follows Figure 2 Taking the target substation shown as an example, let's illustrate this further. Figure 2 It can be seen that the target substation includes live equipment A, live equipment B, live equipment C, live equipment D, and a moving object E. Based on the positioning coordinates of the positioning terminal carried by the moving object E and the center coordinates of each live equipment, the distance L between the moving object E and the live equipment A can be determined using the distance calculation formula between two points. A The distance L between the moving object E and the energized device B B The distance L between the moving object E and the energized device C C And the distance L between the moving object E and the energized device D D .

[0072] Let there be two points A and B with coordinates (x1, y1, z1) and (x2, y2, z2) respectively. Then the distance between points A and B is:

[0073]

[0074] Step S103: The electrical device closest to the moving object is identified as the target electrical device.

[0075] In this embodiment, after determining the distance between the moving object and each energized device, the energized device closest to the moving object (i.e., the one with the smallest distance value) is identified based on the determined distance value, and this energized device is identified as the target energized device.

[0076] In addition, this embodiment can also allow the moving object to carry a distance detection device to detect the distance between the moving object and the surrounding electrical equipment, and transmit the detected distance to the server. The computer can then determine the electrical equipment closest to the moving object based on the received multiple distances and identify that electrical equipment as the target electrical equipment.

[0077] Step S104: Obtain the first coordinates of the outline vertex of the target energized device in the geographic coordinate system and the second coordinates of the outline vertex of the moving object in the geographic coordinate system.

[0078] In this embodiment, the first coordinate can be determined through the following steps: In a first spatial coordinate system, determine the coordinate difference between the contour vertex coordinates of the target electrical equipment and the coordinates of the model center point; based on the coordinates of the model center point in the geographic coordinate system and the coordinate difference between the contour vertex coordinates of the target electrical equipment and the model center point coordinates, determine the first coordinate of the contour vertex of the target electrical equipment in the geographic coordinate system. The process of determining the first coordinate specifically includes the following steps:

[0079] First, based on the three-dimensional model of the target substation, the three-dimensional contour information of the target energized equipment within the target substation is determined. Here, for the sake of simplicity in subsequent calculations, the smallest hexahedron or octahedron including the target energized equipment is defined as the structure of the target energized equipment, and the contour of the hexahedron or octahedron is defined as the contour of the target energized equipment.

[0080] Then, based on the three-dimensional contour information of the target electrical equipment, the contour vertex coordinates of the target electrical equipment in the first spatial coordinate system are determined. Furthermore, based on the contour vertex coordinates of the target electrical equipment in the first spatial coordinate system and the origin coordinates of the first spatial coordinate system, the coordinate difference between the contour vertex coordinates of the target electrical equipment and the coordinates of the model center point in the first spatial coordinate system is determined. Here, the target electrical equipment has multiple contour vertex coordinates.

[0081] Finally, the three-dimensional coordinates of the model center point in the geographic coordinate system are obtained. By adding the coordinate difference between the contour vertex coordinates of the target electrical equipment and the coordinates of the model center point to the three-dimensional coordinates of the model center point in the geographic coordinate system, the first coordinate of the contour vertex of the target electrical equipment in the geographic coordinate system can be determined.

[0082] The second coordinate in this embodiment is determined through the following steps: acquiring point cloud data of a moving object carrying a positioning terminal, and constructing a contour model of the moving object based on the point cloud data; determining the coordinate difference between the contour vertex coordinates of the moving object's contour model and the positioning coordinates of the positioning terminal in a second spatial coordinate system; establishing the second spatial coordinate system with the positioning terminal as the origin; and determining the second coordinates of the moving object's contour vertex in the geographic coordinate system based on the positioning coordinates of the positioning terminal in the geographic coordinate system, the coordinate difference between the contour vertex coordinates of the moving object's contour model and the positioning coordinates of the positioning terminal. The process of determining the second coordinate in this embodiment specifically includes the following steps:

[0083] First, point cloud data of the activity range of the moving object carrying the positioning terminal is acquired, and a contour model of the moving object is constructed based on the acquired point cloud data. Here, for the sake of simplicity in subsequent calculations, the smallest hexahedron or octahedron including the moving object is defined as the structure of the moving object, and the contour of the hexahedron or octahedron is defined as the contour of the moving object.

[0084] For example, when the moving object is a person, a hexahedron or octahedron is determined based on the spatial limits of the person's limb movement range, and the outline of the moving object is determined based on the outline of the hexahedron or octahedron; when the moving object is a vehicle, the smallest hexahedron or octahedron including the vehicle is determined as the structure of the vehicle, and the outline of the hexahedron or octahedron is determined as the outline of the vehicle.

[0085] Then, a spatial coordinate system is established with the positioning terminal in the contour model as the origin. This spatial coordinate system is a three-dimensional coordinate system, and the plane formed by the X-axis and Y-axis of this spatial coordinate system is parallel to the bottom surface of the moving object. This spatial coordinate system is the second spatial coordinate system.

[0086] Next, based on the contour information of the moving object, the contour vertex coordinates of the moving object in the second spatial coordinate system are determined. Then, based on the contour vertex coordinates of the moving object in the second spatial coordinate system and the origin coordinates of the second spatial coordinate system, the coordinate difference between the contour vertex coordinates of the moving object in the second spatial coordinate system and the positioning coordinates of the positioning terminal is determined. Here, the moving object has multiple contour vertex coordinates.

[0087] Finally, the positioning coordinates of the positioning terminal in the geographic coordinate system are obtained. By adding the coordinate difference between the coordinates of the contour vertex of the moving object and the positioning coordinates of the positioning terminal to the positioning coordinates of the positioning terminal in the geographic coordinate system, the second coordinates of the contour vertex of the moving object in the geographic coordinate system can be determined.

[0088] Step S105: Determine the relative distance between the target electrical device and the moving object based on the first coordinate and the second coordinate.

[0089] In this embodiment, the first coordinate includes multiple coordinates, the second coordinate includes multiple coordinates, and the relative distance between the target electrical device and the moving object is determined based on the first coordinate and the second coordinate, including: determining multiple relative distances between the target electrical device and the moving object based on multiple first coordinates and multiple second coordinates.

[0090] This embodiment uses Figure 3 Taking the target energized device and moving object shown as an example, L is determined through the example in step S102 and the determination step in step S103. D Since the value is the smallest, the energized device D is determined to be the target energized device. For example... Figure 3As shown, the moving object has 8 contour vertices, and the target electrical device also has 8 contour vertices. Therefore, the first coordinate system includes 8 coordinates, and the second coordinate system also includes 8 coordinates. Taking a vertex e of the moving object as an example, to determine the relative distance between the moving object and the target electrical device, the distances from vertex e to vertices d1, d2, d3, d4, d5, d6, d7, and d8 of the target electrical device are determined. These distances are the relative distances. Then, the distances between the remaining 7 vertices of the moving object and the 8 vertices of the target electrical device are calculated, thus determining 64 relative distances.

[0091] Furthermore, it should be noted that when determining the relative distance between the target electrical device and the moving object based on the first and second coordinates, the relative distance can also be determined based on a portion of the first and second coordinates. For example, the vertex coordinates on the surfaces opposite the moving object and the target electrical device can be selected to calculate the relative distance.

[0092] Step S106: Based on the relative distance and the safety distance threshold corresponding to the target energized equipment, determine whether the moving object is within the danger range of the target energized equipment.

[0093] Step S106 in this embodiment includes:

[0094] From multiple relative distances, determine the shortest distance; determine whether the shortest distance is greater than the safe distance threshold; if so, determine that the moving object is not within the danger zone of the target energized equipment; otherwise, determine that the moving object is within the danger zone of the target energized equipment.

[0095] In this embodiment, the safe distance threshold for each energized device can be the same or different.

[0096] The monitoring method in this embodiment further includes: if the moving object is within the danger range of the target energized equipment, sending an alarm notification indicating an alarm to the moving object; and / or sending an alarm notification indicating an alarm to the target energized equipment; and / or sending an alarm notification indicating an alarm to the client corresponding to the server.

[0097] In this embodiment, when a moving object is determined to be within the danger zone of a target energized device, an alarm notification indicating an alert is sent to the moving object, so that personnel associated with the moving object can leave the danger zone of the target energized device as soon as possible after receiving the alarm notification. Alternatively, when a moving object is determined to be within the danger zone of the target energized device, an alarm notification indicating an alert is sent to the target energized device, so that personnel associated with the moving object can leave the danger zone of the energized device corresponding to the alarm information as soon as possible. Alternatively, an alarm notification indicating an alert is sent to the client corresponding to the server, so that safety supervisors on the client can promptly determine that personnel or vehicles have entered the danger zone of the energized device, and thus promptly notify personnel or vehicles that have entered the danger zone of the energized device to leave the danger area as soon as possible.

[0098] Example 2

[0099] This embodiment proposes a monitoring device for safe distances within a substation, such as... Figure 4 As shown, the monitoring device 400 in this embodiment includes:

[0100] The first acquisition module 401 is used to acquire the positioning coordinates of the positioning terminal carried by the moving object in the geographic coordinate system in real time; the moving object in this embodiment includes vehicles and personnel moving within the target substation, etc.

[0101] The first determining module 402 is used to determine the distance between the moving object and each electrical device in the target substation based on the positioning coordinates and the pre-stored center point coordinates of each live device in the target substation in the geographic coordinate system.

[0102] The target charged device determination module 403 is used to determine the charged device closest to the moving object as the target charged device.

[0103] The second acquisition module 404 is used to acquire the first coordinates of the outline vertex of the target energized device in the geographic coordinate system and the second coordinates of the outline vertex of the moving object in the geographic coordinate system.

[0104] The second determining module 405 is used to determine the relative distance between the target electrical equipment and the moving object based on the first coordinate and the second coordinate;

[0105] The third determining module 406 is used to determine whether a moving object is within the danger range of the target energized equipment based on the relative distance and the safety distance threshold corresponding to the target energized equipment.

[0106] like Figure 5 As shown, the monitoring device 400 in this embodiment further includes an alarm module 407, which is used for:

[0107] If the moving object is within the danger zone of the target energized equipment, an alarm notification indicating an alarm is sent to the moving object.

[0108] and / or;

[0109] Send an alarm notification to the target energized equipment so that the target energized equipment responds to the alarm notification and issues an alarm instruction;

[0110] and / or;

[0111] Send an alarm notification indicating an alarm to the monitoring device 400.

[0112] The monitoring device 400 in this embodiment further includes a center point coordinate determination module 408, which is used for:

[0113] Acquire point cloud data of the target substation's 3D scene and construct a 3D model of the target substation based on the point cloud data;

[0114] In the first spatial coordinate system, the coordinate difference between the center coordinates of each live device in the target substation and the coordinates of the model center point is determined; the first spatial coordinate system is established based on the model center point of the three-dimensional model;

[0115] Based on the coordinates of the model center point in the geographic coordinate system and the coordinate difference between the center point coordinates of each live device and the model center point coordinates, the center point coordinates of each live device in the target substation in the geographic coordinate system are determined.

[0116] The monitoring device 400 in this embodiment further includes a first coordinate determination module 409, which is used for:

[0117] In the first spatial coordinate system, determine the coordinate difference between the contour vertex coordinates of the target energized equipment and the center point coordinates of the model;

[0118] Based on the coordinates of the center point of the 3D model in the geographic coordinate system, the coordinate difference between the contour vertex coordinates of the target electrical equipment and the coordinates of the model center point, the first coordinate of the contour vertex of the target electrical equipment in the geographic coordinate system is determined.

[0119] The monitoring device 400 in this embodiment further includes a second coordinate determination module 410, which is used for:

[0120] Acquire point cloud data of a moving object carrying a positioning terminal, and construct a contour model of the moving object based on the point cloud data of the moving object.

[0121] In the second spatial coordinate system, the coordinate difference between the contour vertex coordinates of the contour model of the moving object and the positioning coordinates of the positioning terminal is determined; the second spatial coordinate system is established with the positioning terminal as the origin.

[0122] Based on the positioning coordinates of the positioning terminal in the geographic coordinate system, the coordinate difference between the contour vertex coordinates of the contour model of the moving object and the positioning coordinates of the positioning terminal, the second coordinates of the contour vertex of the moving object in the geographic coordinate system are determined.

[0123] In this embodiment, the first coordinate includes multiple coordinates, and the second coordinate includes multiple coordinates. Then, the second determining module 405 determines multiple relative distances between the target electrical device and the moving object based on the multiple first coordinates and the multiple second coordinates.

[0124] The third determining module 406 in this embodiment is used for:

[0125] The shortest distance is determined from the plurality of relative distances;

[0126] Determine whether the shortest distance is greater than the safe distance threshold;

[0127] If so, then it is determined that the moving object is not within the danger zone of the target energized equipment;

[0128] Otherwise, determine that the moving object is within the danger zone of the target energized equipment.

[0129] Example 3

[0130] This embodiment proposes an electronic device, such as... Figure 6 As shown, the electronic device 600 includes a processor 610, a memory 620, and a bus 630.

[0131] The memory 620 stores machine-readable instructions that can be executed by the processor 610. When the electronic device 600 is running, the processor 610 and the memory 620 communicate through the bus 630. When the machine-readable instructions are executed by the processor 610, the steps of the monitoring method proposed in this embodiment 1 can be executed. For specific implementation methods, please refer to the method embodiment, which will not be repeated here.

[0132] This application also provides a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it can execute the steps of the monitoring method proposed in this embodiment. For specific implementation details, please refer to the method embodiment, which will not be repeated here.

[0133] Those skilled in the art will 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.

[0134] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0135] 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 this embodiment according to actual needs.

[0136] In addition, the functional units in the various embodiments of this application 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.

[0137] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion 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 application. 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.

[0138] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for monitoring safe distances within a substation, characterized in that, include: Real-time acquisition of the location coordinates of the positioning terminal carried by the moving object in the geographic coordinate system; Based on the positioning coordinates and the pre-stored center point coordinates of each live device in the target substation in the geographic coordinate system, the distance between the moving object and each live device in the target substation is determined. The nearest live device to the moving object is identified as the target live device; Obtain the first coordinates of the outline vertices of the target energized device in the geographic coordinate system and the second coordinates of the outline vertices of the moving object in the geographic coordinate system; The relative distance between the target electrical device and the moving object is determined based on the first and second coordinates. Based on the relative distance and the safety distance threshold corresponding to the target energized device, it is determined whether the moving object is within the danger range of the target energized device.

2. The method for monitoring safe distances within a substation according to claim 1, characterized in that, Also includes: If the moving object is within the danger zone of the target energized equipment, an indication and alarm notification shall be issued; And / or, send an alarm notification indicating an alarm to the moving object; And / or, send an alarm notification indicating an alarm to the target energized equipment; And / or, send alarm notifications indicating alarms to other clients.

3. A method for monitoring safe distances within a substation according to claim 1 or 2, characterized in that, The center point coordinates of each live device within the target substation in the geographic coordinate system are determined through the following steps: Obtain point cloud data of the target substation, and construct a three-dimensional model of the target substation based on the point cloud data; A first spatial coordinate system is established with the center point of the three-dimensional model as the origin; In the first coordinate system, determine the coordinate difference between the center point coordinates of each live device in the target substation and the center point coordinates of the model; Based on the coordinates of the model center point in the geographic coordinate system and the coordinate difference between the center point coordinates of each live device and the model center point coordinates, the center point coordinates of each live device in the target substation in the geographic coordinate system are determined.

4. The method for monitoring safe distances within a substation according to claim 3, characterized in that, The first coordinate of the outline point of the target energized device in the geographic coordinate system is determined by the following steps: In the first spatial coordinate system, determine the coordinate difference between the contour vertex coordinates of the target energized device and the coordinates of the model center point; Based on the coordinates of the model center point in the geographic coordinate system, the coordinate difference between the contour vertex coordinates of the target electrical equipment and the coordinates of the model center point, the first coordinates of the contour vertex of the target electrical equipment in the geographic coordinate system are determined.

5. The method for monitoring safe distances within a substation according to claim 1, characterized in that, The second coordinates of the outline vertices of the moving object in the geographic coordinate system are determined by the following steps: Obtain point cloud data of a moving object carrying the positioning terminal, and construct a contour model of the moving object based on the point cloud data of the moving object. A second spatial coordinate system is established with the positioning terminal as the origin; In the second spatial coordinate system, determine the coordinate difference between the contour vertex coordinates of the contour model of the moving object and the positioning coordinates of the positioning terminal; Based on the positioning coordinates of the positioning terminal in the geographic coordinate system, the coordinate difference between the contour vertex coordinates of the contour model of the moving object and the positioning coordinates of the positioning terminal, the second coordinates of the contour vertex of the moving object in the geographic coordinate system are determined.

6. The method for monitoring safe distances within a substation according to claim 1, characterized in that, The step of determining the relative distance between the target energized device and the moving object based on the first and second coordinates includes: Based on multiple first coordinates and multiple second coordinates, multiple relative distances between the target energized device and the moving object are determined.

7. A method for monitoring safe distances within a substation according to claim 6, characterized in that, Based on the relative distance and the safety distance threshold corresponding to the target energized device, the step of determining whether the moving object is within the danger range of the target energized device specifically includes the following sub-steps: Obtain the shortest distance from among the multiple relative distances; Determine whether the shortest distance is greater than the safe distance threshold; If so, it is determined that the moving object is not within the danger zone of the target energized equipment; Otherwise, the moving object is determined to be within the danger zone of the target energized equipment.

8. A monitoring device for safe distances within a substation, characterized in that, include: The first acquisition module is used to acquire the location coordinates of the positioning terminal carried by the moving object in the geographic coordinate system in real time. The first determining module determines the distance between the moving object and each electrical device in the target substation based on the positioning coordinates and the pre-stored center point coordinates of each live device in the target substation in the geographic coordinate system. The target charged device determination module identifies the charged device closest to the moving object as the target charged device. The second acquisition module is used to acquire the first coordinates of the outline vertex of the target energized device in the geographic coordinate system and the second coordinates of the outline vertex of the moving object in the geographic coordinate system. The second determining module determines the relative distance between the target electrical device and the moving object based on the first coordinate and the second coordinate. The third determining module determines whether the moving object is within the danger range of the target energized device based on the relative distance and the safety distance threshold corresponding to the target energized device.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-7.

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