A substation intelligent patrol linkage method and system

Abstract

The application discloses a substation intelligent patrol linkage method and system, and belongs to the technical field of power equipment monitoring. The method comprises the following steps: acquiring electrical operation data of electrical equipment in a substation through a substation electrical data acquisition layer; inputting the electrical operation data into a data communication gateway layer for analysis, judging whether there is abnormal electrical operation data according to the analysis result, triggering an electrical alarm and issuing a linkage instruction to an intelligent patrol execution layer if there is abnormal electrical operation data; the intelligent patrol execution layer receives the linkage instruction to execute a corresponding physical patrol task, and collects on-site image or video data to be returned to the data communication gateway layer; and the data communication gateway layer performs on-site diagnosis on the returned on-site image or video data, packs the diagnosis result into a multi-source data twin package, and uniformly uploads the multi-source data twin package to a main station dispatching layer for dispatching display. The application can overcome the problem of mutual isolation of electrical operation data and physical patrol image data in the existing substation monitoring.

Description

Technical Field

[0001] This invention relates to the field of power equipment monitoring technology, and in particular to a method and system for intelligent inspection and linkage of substations. Background Technology

[0002] With the development of smart grids and the widespread adoption of unmanned substations, the automation level of substations is constantly improving, and users are placing higher demands on substation inspections. Currently, there are two relatively independent monitoring systems within substations: the operation monitoring system, centered on a data communication gateway, primarily collects electrical quantity data; the intelligent inspection system, centered on video surveillance and inspection robots, primarily collects images and videos of electrical equipment. By analyzing the data collected by both systems, abnormal electrical equipment can be detected. However, in existing technologies, the two systems are independent of each other, resulting in technical shortcomings such as large emergency response delays, wasted network bandwidth, and a lack of multi-source data fusion analysis. Summary of the Invention

[0003] The purpose of this invention is to provide a method and system for intelligent inspection and linkage in substations. This method analyzes electrical operation anomaly data through a data communication gateway layer, sends linkage commands to the intelligent inspection execution layer, and receives back images and videos of the malfunctioning electrical equipment through the intelligent inspection execution layer. This overcomes the problem of isolated electrical operation data and physical inspection image data in existing substation monitoring systems. This invention is achieved through the following technical solutions.

[0004] In a first aspect, the present invention provides a method for intelligent inspection and linkage of substations, comprising the following steps: The electrical operation data of electrical equipment within the substation is obtained through the substation electrical data acquisition layer; Electrical operation data is input to the data communication gateway layer for analysis. Based on the analysis results, it is determined whether there is any abnormal electrical operation data. If so, an electrical alarm is triggered and a linkage command is sent to the intelligent inspection execution layer. The intelligent patrol execution layer receives linkage instructions to execute corresponding physical patrol tasks and collects on-site images or video data to transmit back to the data communication gateway layer; The data communication gateway layer performs on-site diagnosis on the returned on-site images or video data, packages the diagnosis results and the returned on-site images or video data into a multi-source data twin package, and uploads it to the main station scheduling layer for scheduling and display.

[0005] Optionally, the data communication gateway layer performs on-site diagnosis of the returned field images or video data by: performing on-site diagnosis analysis on the returned field images or videos through an image recognition algorithm unit to generate diagnosis results, wherein the diagnosis results include electrical alarm messages and analysis conclusions of electrical equipment abnormalities; Specifically, the image recognition algorithm unit performs target detection on the returned on-site images or videos, extracts electrical operation data of electrical equipment, compares the extracted electrical operation data with the previously collected electrical operation data, and if they are inconsistent, generates an electrical alarm message. The inconsistent electrical operation data is analyzed to generate an analysis conclusion that the electrical equipment has malfunctioned. Electrical operation data includes the opening and closing positions of mechanical indicators, meter pointer scale values / digital OCR recognition values, surface damage contour pixels of equipment, and the distribution of the highest temperature pixels in the target area extracted from infrared video.

[0006] Optionally, the multi-source data twin package is uploaded to the main station scheduling layer in JSON format. The JSON format supports the upload of images or videos. The scheduling and display of the multi-source data twin package by the main station scheduling layer is as follows: based on the abnormal electrical equipment indicated by the diagnosis results, the abnormality is re-verified by the returned on-site image or video data. If the results displayed in the video or image are consistent with the diagnosis results, it is determined that maintenance personnel need to be dispatched to the site for maintenance operations.

[0007] Optionally, the substation intelligent inspection linkage method also includes a fault-tolerant processing step, which includes: when the intelligent inspection execution layer transmits field image or video data back to the data communication gateway layer after a timeout, the data communication gateway layer automatically triggers a second retry command; if the retry fails, the generated alarm message is marked "physical inspection verification unavailable", and the master station scheduling layer is requested to intervene manually.

[0008] Optionally, the data communication gateway layer's analysis of electrical operation data includes: performing real-time analysis of electrical operation data through the linkage strategy engine module, judging the real-time analysis results in combination with preset rules, triggering electrical alarms when an electrical equipment abnormality is determined, extracting the equipment ID and spatial location coordinates of the abnormal electrical equipment, and issuing linkage instructions to the intelligent inspection execution layer in combination with the equipment ID and spatial location coordinates.

[0009] Optionally, the linkage strategy engine module supports multi-level priority scheduling logic, which includes: when multiple electrical alarms occur concurrently, the data communication gateway layer sorts them according to the impact range of the electrical equipment anomaly type and the electrical equipment level, and combines the abnormal electrical equipment ID and spatial location coordinates to prioritize the dispatching of the inspection equipment closest to the abnormal electrical equipment point.

[0010] Optionally, if the abnormal electrical equipment is within the line of sight of the fixed PTZ camera, the linkage instruction is to directly wake up the fixed PTZ camera and adjust the PTZ to align with the abnormal electrical equipment; if the abnormal electrical equipment is beyond the line of sight or requires depth detection, the linkage instruction is to generate an automatically planned path and issue an inspection task through a wheeled inspection robot, a rail-mounted robot, or a drone nest.

[0011] In a second aspect, the present invention provides a substation intelligent inspection linkage system to realize the substation intelligent inspection linkage method described in the first aspect, including a substation electrical data acquisition layer, a data communication gateway layer, an intelligent inspection execution layer, and a master station scheduling layer that are connected in communication. Among them, the substation electrical data acquisition layer is used to acquire electrical operation data of electrical equipment in the substation and input the electrical operation data to the data communication gateway layer; The data communication gateway layer is used to analyze electrical operation data, determine whether there is abnormal electrical operation data based on the analysis results, and if so, trigger an electrical alarm and send a linkage command to the intelligent inspection execution layer. The intelligent patrol execution layer is used to receive linkage instructions to execute corresponding physical patrol tasks and collect on-site images or video data and transmit them back to the data communication gateway layer. The data communication gateway layer is used to perform on-site diagnosis on the returned on-site images or video data, and package the diagnosis results into a multi-source data twin package, which is then uniformly uploaded to the main station scheduling layer for scheduling and display.

[0012] Optionally, the data communication gateway layer has a built-in independent edge computing module and linkage strategy engine module. The edge computing module includes an independent image recognition algorithm unit and a protocol conversion unit. The intelligent patrol execution layer includes multiple independently configured patrol devices, each of which includes a fixed PTZ camera, a wheeled inspection robot, a rail-mounted robot, and a drone nest.

[0013] Optionally, the protocol conversion unit is used to convert the IEC61850, IEC104 or IEC103 protocol messages used by the substation electrical data acquisition layer into MQTT, HTTP or CoAP IoT communication protocol commands used by the intelligent inspection execution layer.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: The substation intelligent inspection linkage system and method introduced in this invention realizes the analysis and feedback diagnosis of electrical operation data through the data communication gateway layer and the intelligent inspection execution layer. It overcomes the problems of isolated electrical operation data and physical inspection image data, large fault linkage delay, high bandwidth consumption, and lack of local fusion analysis capability in existing substation monitoring. Specifically, through the analysis and feedback diagnosis of electrical operation data, electrical alarms and visual verification are presented simultaneously. The authenticity of electrical signals is confirmed by image assistance, reducing the false alarm rate caused by equipment vibration or communication interference. It also realizes that the inspection equipment is no longer blindly inspected, but has the ability to respond quickly to specific electrical load changes.

[0015] By analyzing electrical operation data, generating alarms, transmitting diagnostic feedback, and uniformly uploading diagnostic results to the main station dispatch layer, the original two-level dispatch link that required forwarding through the main station is simplified to a single-level edge linkage within the substation, eliminating the delay caused by manual intervention across network gateways and systems. This directly compresses the two-level process—originally requiring reporting to the main station and then issuing inspection instructions—into the gateway unit within the substation. The two-level dispatch link includes: Level 1 (substation to main station): When the relay protection or monitoring and control device within the substation detects an anomaly, it sends the electrical alarm signal to the provincial / municipal level dispatch main station via the data communication gateway unit (telecontrol device). Level 2 (main station to inspection system): After seeing the alarm at the main station, the dispatcher determines that verification is needed. At this point, the dispatcher may need to issue instructions through the main station system or manually switch to another independent video / robot inspection backend to reissue instructions to the substation.

[0016] By employing an "edge recognition, on-demand data transmission" strategy, the previously massive amount of inspection data is transmitted only in the form of "feature data + linkage commands," greatly alleviating the pressure on the remote control channel. Edge recognition refers to the technology of intelligently processing and analyzing video, images, or raw data directly using the built-in computing power at the substation site (i.e., the local gateway unit) near the data source. Attached Figure Description

[0017] Figure 1 The diagram shown is a flowchart of a substation intelligent inspection and linkage method in one embodiment of the present invention. Figure 2 The diagram shown is a schematic diagram of the substation intelligent inspection and linkage system in one embodiment of the present invention. Figure 3 The diagram shown is a schematic diagram of the linkage instruction issuance process in one embodiment of the present invention. Detailed Implementation

[0018] The following description, in conjunction with the accompanying drawings and specific embodiments, provides further details. In this description, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature.

[0019] Example 1 This embodiment introduces a method for intelligent inspection and linkage of substations, such as... Figure 1 As shown, it includes the following steps: The electrical operation data of electrical equipment within the substation is obtained through the substation electrical data acquisition layer; Electrical operation data is input to the data communication gateway layer for parsing. Based on the parsing results, it is determined whether there is abnormal electrical operation data. If so, an electrical alarm is triggered and a linkage command is sent to the intelligent inspection execution layer. The intelligent patrol execution layer receives linkage instructions to execute corresponding physical patrol tasks and collects on-site images or video data to transmit back to the data communication gateway layer; The data communication gateway layer performs on-site diagnosis on the returned on-site images or video data, packages the diagnosis results and the returned on-site images or video data into a multi-source data twin package, and uploads it to the main station scheduling layer for scheduling and display.

[0020] Example 2 Based on Example 1, this example describes the specific implementation process of a substation intelligent inspection and linkage method, including the following: In one specific embodiment of the present invention, the hardware architecture of the data communication gateway layer adopts a heterogeneous processing unit of CPU+NPU, wherein the CPU is responsible for the maintenance of the multi-protocol communication stack and the distribution of business logic, and the NPU is a hardware processing chip inside the gateway machine, which acts as a computing acceleration card to run the convolutional neural network model and perform real-time target detection and defect feature extraction on the returned on-site images or video data.

[0021] In one specific embodiment of the present invention, the data communication gateway layer has a built-in independent edge computing module and a linkage strategy engine module. The edge computing module includes an independent image recognition algorithm unit and a protocol conversion unit. The intelligent patrol execution layer includes multiple independently configured patrol devices, each patrol device including a fixed pan-tilt camera, a wheeled inspection robot, a rail-mounted robot, and a drone nest.

[0022] In one specific embodiment of the present invention, the protocol conversion unit is used to convert the IEC61850, IEC104 or IEC103 protocol messages used by the substation electrical data acquisition layer into MQTT, HTTP or CoAP IoT communication protocol instructions used by the intelligent inspection execution layer.

[0023] In this invention, the data communication gateway layer is specifically an edge intelligent data communication gateway device, which has a pre-installed dynamic protocol mapping matrix. This matrix defines the correspondence between each data point (IOA / object index) in the power communication protocol (IEC61850 / 103 / 104) and the device control topic in the Internet of Things protocol (MQTT / CoAP). When the edge intelligent data communication gateway device detects a trip signal (remote signaling) or over-limit signal (telemetry) from the substation electrical data acquisition layer, the protocol conversion unit does not need to go through the master station for relay. It directly encapsulates the electrical event into a JSON command packet that conforms to the intelligent inspection execution layer interface according to the matrix.

[0024] In one specific embodiment of the present invention, the substation intelligent inspection linkage method based on the data communication gateway further includes a fault-tolerant processing step, which includes: when the intelligent inspection execution layer transmits field image or video data back to the data communication gateway layer in a timeout, the data communication gateway layer automatically triggers a second retry command; if the retry fails, the generated alarm message is marked "physical inspection verification unavailable", and the master station scheduling layer is requested to intervene manually.

[0025] I. Data Communication Gateway Layer 1.1 Data Analysis and Issuance of Linkage Commands In one specific embodiment of the present invention, the analysis of electrical operation data by the data communication gateway layer includes: performing real-time analysis of electrical operation data through the linkage strategy engine module, judging the real-time analysis results in combination with preset rules or lightweight AI models, triggering an electrical alarm when it is determined that there is an electrical equipment abnormality, extracting the equipment ID and spatial location coordinates of the abnormal electrical equipment, and issuing a linkage command to the intelligent inspection execution layer in combination with the equipment ID and spatial location coordinates.

[0026] In this invention, the preset rules are exemplified as follows: when the switch is open, the line current is zero; otherwise, the equipment or the broken line is abnormal; the differential current on each side of the transformer is zero; otherwise, the equipment is abnormal; the differential current on each side of the busbar is zero; otherwise, the equipment is abnormal; "when the A-phase current of the main transformer exceeds 110% of the rated current, infrared inspection is triggered"; or "when the ambient temperature exceeds 40°C and the equipment temperature rise rate exceeds 5°C / h, camera tracking is initiated"; "when the 110kV bus tie switch is detected to change from 'closed' to 'open' (non-manual operation), the inspection robot is immediately driven to the interval to confirm the mechanical position"; for example, "if no reclosing success signal is received within 500 milliseconds after the circuit breaker trips and alarms, it is determined to be a permanent fault, and a drone is initiated for investigation."

[0027] In one specific embodiment of the present invention, the linkage strategy engine module supports multi-level priority scheduling logic, which includes: when multiple electrical alarms occur concurrently, the data communication gateway layer sorts them according to the impact range of the electrical equipment anomaly type and the electrical equipment level, and combines the abnormal electrical equipment ID and spatial location coordinates to prioritize the mobilization of the inspection equipment closest to the abnormal electrical equipment point.

[0028] 1.2 Data Feedback and Diagnosis In one specific embodiment of the present invention, the image recognition algorithm unit performs on-site diagnosis and analysis on the returned on-site images or videos to generate diagnosis results, which include electrical alarm messages and analysis conclusions on the abnormality of electrical equipment. Specifically, the image recognition algorithm unit performs target detection on the returned on-site images or videos, extracts electrical operation data of electrical equipment, compares the extracted electrical operation data with the previously collected electrical operation data, and if they are inconsistent, generates an electrical alarm message. The inconsistent electrical operation data is analyzed to generate an analysis conclusion that the electrical equipment has malfunctioned. Electrical operation data includes the opening and closing positions of mechanical indicators, meter pointer scale values / digital OCR recognition values, surface damage contour pixels of equipment, and the distribution of the highest temperature pixels in the target area extracted from infrared video.

[0029] In this invention, the edge computing module built into the gateway is equipped with a lightweight convolutional neural network. Its core function is not simply video forwarding, but rather detecting changes in the scene and extracting key visual features through background modeling and inter-frame differencing techniques. The AI ​​module can identify switch on / off indicator states, meter readings, oil level, fire smoke, and unauthorized intrusion, retaining only image fragments with alarm features and filtering out invalid static images.

[0030] In one specific embodiment of this invention, a timestamp-aligned fusion encapsulation method is used to compare the extracted electrical operation data described above with the previously collected electrical operation data. The edge intelligent data communication gateway performs time-axis fitting and encapsulation of the asynchronously arriving electrical signal sequence (ms-level) and the image frame sequence (ms-level) from the inspection feedback. The encapsulated multi-source data packet includes: an electrical state description field, an AI recognition confidence field, and associated keyframe images (Base64 format). This data packet, through logical association, allows one image to correspond to multiple electrical quantity change curves. That is, by comparing the collected electrical data with the returned electrical data, the accuracy of the main station scheduling layer's judgment of electrical equipment anomalies is improved, thereby determining whether maintenance personnel need to be dispatched to the site to handle the problem.

[0031] II. Intelligent Patrol Execution Layer In one specific embodiment of the present invention, such as Figure 3 As shown, if the abnormal electrical equipment is within the line of sight of the fixed PTZ camera, the linkage command is to directly wake up the fixed PTZ camera and adjust the PTZ to aim at the abnormal electrical equipment; if the abnormal electrical equipment is beyond the line of sight or requires depth detection, the linkage command is to generate an automatically planned path and issue the inspection task through a wheeled inspection robot, a rail-mounted robot, or a drone's nest. The specific levels are shown below: Level 1 linkage (instant verification): For emergencies such as switch changes and protection activation, the edge intelligent data communication gateway extracts the ID of the abnormal electrical equipment and retrieves the associated preset positions of fixed cameras. The cameras respond within seconds, pushing the live footage to the image recognition algorithm unit of the edge intelligent data communication gateway in real time.

[0032] Level 2 linkage (deep diagnostics): Targeting gradual events such as overload, partial discharge, and abnormal oil temperature. The edge intelligent data communication gateway generates a complex task package containing 3D coordinates, inspection paths, and identified targets, mobilizing inspection robots or drones to perform comprehensive, close-range infrared temperature rise and appearance defect scanning.

[0033] Three-level linkage (periodic verification): The edge intelligent data communication gateway dynamically adjusts the priority and frequency of routine inspection tasks based on the historical load curves and health scores of electrical equipment.

[0034] III. Main Station Dispatch Layer In this invention, the medical examination results and the returned on-site image or video data are packaged into a multi-source data twin package, which is uploaded to the main station scheduling layer in JSON format. Traditional formats can only transmit electrical quantities, while JSON format can send images and videos. To ensure the main station scheduling layer can clearly determine the cause of the fault, the scheduling display of the multi-source data twin package is as follows: based on the abnormal electrical equipment indicated by the medical examination results, the returned on-site image or video data is used for re-verification. If the results displayed in the video or image are consistent with the medical examination results, it is determined that maintenance personnel need to be dispatched to the site for repair operations. The reason for re-verification is that the medical examination results may be misjudged; if the medical examination results are consistent with what is shown in the video, manual dispatch to the site is required.

[0035] Example 3 This embodiment introduces a substation intelligent inspection and linkage system, such as... Figure 1 As shown, the substation intelligent inspection linkage method according to claim 1 or claim 2 includes a substation electrical data acquisition layer, a data communication gateway layer, an intelligent inspection execution layer, and a master station dispatch layer connected by communication. Among them, the substation electrical data acquisition layer is used to acquire electrical operation data of electrical equipment in the substation and input the electrical operation data to the data communication gateway layer; The data communication gateway layer is used to parse electrical operation data and determine whether there is abnormal electrical operation data based on the parsing results. If so, it triggers an electrical alarm and sends a linkage command to the intelligent inspection execution layer. The intelligent patrol execution layer is used to receive linkage instructions to execute corresponding physical patrol tasks and collect on-site images or video data and transmit them back to the data communication gateway layer. The data communication gateway layer is used to perform on-site diagnosis of the returned on-site images or video data, and package the diagnosis results and the returned on-site images or video data into a multi-source data twin package, which is then uniformly uploaded to the main station scheduling layer for scheduling and display.

[0036] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for intelligent inspection and linkage of substations, characterized in that, Includes the following steps: The electrical operation data of electrical equipment within the substation is obtained through the substation electrical data acquisition layer; Electrical operation data is input to the data communication gateway layer for analysis. Based on the analysis results, it is determined whether there is any abnormal electrical operation data. If so, an electrical alarm is triggered and a linkage command is sent to the intelligent inspection execution layer. The intelligent patrol execution layer receives linkage instructions to execute corresponding physical patrol tasks and collects on-site images or video data to transmit back to the data communication gateway layer; The data communication gateway layer performs on-site diagnosis on the returned on-site images or video data, packages the diagnosis results and the returned on-site images or video data into a multi-source data twin package, and uploads it to the main station scheduling layer for scheduling and display.

2. The intelligent inspection and linkage method for substations according to claim 1, characterized in that, The data communication gateway layer performs on-site diagnosis of the returned field images or video data, including: performing on-site diagnosis and analysis of the returned field images or videos through the image recognition algorithm unit, generating diagnosis results, which include electrical alarm messages and analysis conclusions of electrical equipment abnormalities; Specifically, the image recognition algorithm unit performs target detection on the returned on-site images or videos, extracts electrical operation data of electrical equipment, compares the extracted electrical operation data with the previously collected electrical operation data, and if they are inconsistent, generates an electrical alarm message. The inconsistent electrical operation data is analyzed to generate an analysis conclusion that the electrical equipment has malfunctioned. Electrical operation data includes the opening and closing positions of mechanical indicators, meter pointer scale values / digital OCR recognition values, surface damage contour pixels of equipment, and the distribution of the highest temperature pixels in the target area extracted from infrared video.

3. The intelligent inspection and linkage method for substations according to claim 2, characterized in that, The multi-source data twin package is uploaded to the main station scheduling layer in JSON format. The JSON format supports the upload of images or videos. The main station scheduling layer displays the multi-source data twin package as follows: based on the abnormal electrical equipment indicated by the diagnosis results, it re-verifies the abnormality by sending back the on-site image or video data. If the results displayed in the video or image are consistent with the diagnosis results, it is determined that maintenance personnel need to be dispatched to the site for repair operations.

4. The intelligent inspection and linkage method for substations according to claim 1, characterized in that, The substation intelligent inspection linkage method also includes a fault-tolerant processing step, which includes: when the intelligent inspection execution layer transmits field image or video data back to the data communication gateway layer in a timeout, the data communication gateway layer automatically triggers a second retry command; if the retry fails, the generated alarm message is marked "physical inspection verification unavailable" and a request is made to the master station scheduling layer for manual intervention.

5. The intelligent inspection and linkage method for substations according to claim 1, characterized in that, The data communication gateway layer analyzes electrical operation data in real time through the linkage strategy engine module, judges the real-time analysis results in combination with preset rules, triggers electrical alarms when an electrical equipment abnormality is detected, extracts the equipment ID and spatial coordinates of the abnormal electrical equipment, and sends linkage instructions to the intelligent inspection execution layer in combination with the equipment ID and spatial coordinates.

6. The intelligent inspection and linkage method for substations according to claim 5, characterized in that, The linkage strategy engine module supports multi-level priority scheduling logic, which includes: when multiple electrical alarms occur concurrently, the data communication gateway layer sorts them according to the impact range of the electrical equipment anomaly type and the electrical equipment level, and combines the abnormal electrical equipment ID and spatial location coordinates to prioritize the dispatching of the inspection equipment closest to the abnormal electrical equipment point.

7. The intelligent inspection and linkage method for substations according to claim 5, characterized in that, If the abnormal electrical equipment is within the line of sight of the fixed PTZ camera, the linkage command is to directly wake up the fixed PTZ camera and adjust the PTZ to aim at the abnormal electrical equipment; if the abnormal electrical equipment is beyond the line of sight or requires depth detection, the linkage command is to generate an automatic planned path through the wheeled inspection robot, rail-mounted robot, or drone nest and issue the inspection task.

8. A substation intelligent inspection and linkage system, characterized in that, The substation intelligent inspection linkage method according to any one of claims 1-7 includes a substation electrical data acquisition layer, a data communication gateway layer, an intelligent inspection execution layer, and a master station dispatch layer connected by communication; Among them, the substation electrical data acquisition layer is used to acquire electrical operation data of electrical equipment in the substation and input the electrical operation data to the data communication gateway layer; The data communication gateway layer is used to analyze electrical operation data, determine whether there is abnormal electrical operation data based on the analysis results, and if so, trigger an electrical alarm and send a linkage command to the intelligent inspection execution layer. The intelligent patrol execution layer is used to receive linkage instructions to execute corresponding physical patrol tasks and collect on-site images or video data and transmit them back to the data communication gateway layer. The data communication gateway layer is used to perform on-site diagnosis of the returned on-site images or video data, and package the diagnosis results and the returned on-site images or video data into a multi-source data twin package, which is then uniformly uploaded to the main station scheduling layer for scheduling and display.

9. The intelligent substation inspection and linkage system according to claim 8, characterized in that, The data communication gateway layer has a built-in independent edge computing module and linkage strategy engine module. The edge computing module includes an independent image recognition algorithm unit and a protocol conversion unit. The intelligent patrol execution layer includes multiple independently configured patrol devices, each of which includes a fixed PTZ camera, a wheeled inspection robot, a rail-mounted robot, and a drone nest.

10. The intelligent substation inspection and linkage system according to claim 9, characterized in that, The protocol conversion unit is used to convert the IEC61850, IEC104 or IEC103 protocol messages used by the substation electrical data acquisition layer into MQTT, HTTP or CoAP IoT communication protocol commands used by the intelligent inspection execution layer.

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