CN110400387A - A kind of joint method for inspecting, system and storage medium based on substation - Google Patents
A kind of joint method for inspecting, system and storage medium based on substation Download PDFInfo
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- CN110400387A CN110400387A CN201910559867.3A CN201910559867A CN110400387A CN 110400387 A CN110400387 A CN 110400387A CN 201910559867 A CN201910559867 A CN 201910559867A CN 110400387 A CN110400387 A CN 110400387A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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Abstract
The invention discloses a kind of joint method for inspecting, system and storage medium based on substation, wherein method the following steps are included: using video acquisition module acquisition substation fixation real-time video information；Control crusing robot moves in substation and the mobile real-time video information of mobile collection substation；Substation's Obj State is compared in conjunction with fixed real-time video information, mobile real-time video information and preset database, and obtains comparison analysis result；It is generated in conjunction with fixed real-time video information, mobile real-time video information and 3D model and stores 3D live-action data；Inspection statistical report form is automatically generated in conjunction with comparison analysis result and 3D live-action data.The present invention is compared according to real-time video information, the type and state of automatic identification substation object, and inspection statistical report form is automatically generated, improve the intelligence of inspection, meet staff to the high request of intelligent patrol detection, can be widely applied to intelligent patrol detection technical field.
Description
Technical field
The present invention relates to intelligent patrol detection technical field more particularly to a kind of joint method for inspecting based on substation, system
And storage medium.
Background technique
Substation's entity is mostly built in remoter place, is carried out inspection on the spot to substation using manpower and is needed to consume
Take a large amount of human and material resources, and patrol officer needs to enter substation and searches inspection target, and checks inspection item one by one, grasps
Make cumbersome.With the continuous propulsion of intelligent substation process, digital transformer substation is just gradually excessive to intelligent substation, intelligence
Change substation and remote visualization and automation are needed to the status monitoring of equipment and operation operation, to realize the real nothing of substation
People is on duty, and improves the safety operation level of substation.
Video monitoring system used in substation is mostly to be supervised using stationary monitoring by installing camera at present
Control, the region of monitoring is relatively simple, can not flexibly be monitored；And the video monitoring picture of 2D can only be provided mostly, not
The live video stream of substation field can be merged with the threedimensional model of substation field to generate the 3D outdoor scene of substation field
Monitored picture can not provide 360 degree of immersion roaming inspection experience without dead angle.Moreover, existing method for inspecting can not be automatic
The type of substation's object is analyzed, and whether the state for analyzing substation's object is normal, is unable to satisfy staff to existing change
Requirement of the power station to intelligent inspection.
Summary of the invention
In order to solve the above-mentioned technical problem, the object of the present invention is to provide a kind of joint video acquisition module and inspection machines
People, can automatic identification automatically to substation's object carry out inspection analysis inspection method and system.
First technical solution of the present invention is:
A kind of joint method for inspecting based on substation, comprising the following steps:
Using the fixation real-time video information of video acquisition module acquisition substation；
Control crusing robot moves in substation and the mobile real-time video information of mobile collection substation；
In conjunction with fixed real-time video information, mobile real-time video information and preset database to substation's Obj State into
Row compares analysis, and obtains comparison analysis result；
It is generated in conjunction with fixed real-time video information, mobile real-time video information and 3D model and stores 3D live-action data；
Inspection statistical report form is automatically generated in conjunction with comparison analysis result and 3D live-action data.
Further, the fixed real-time video information of the combination, mobile real-time video information and preset database are to power transformation
Obj State of standing is compared, and obtains the step for result is analyzed in comparison, specifically includes the following steps:
Automatic identification is carried out to substation's object according to fixed real-time video information and mobile real-time video information, and is being known
Not Cheng Gong after, obtain the essential information of substation's object；
Corresponding model information is obtained from preset database according to essential information, and binding model information, fixation are in fact
When video information and mobile real-time video information substation's Obj State is compared, and obtain comparison analysis result；
Analyze result judges whether substation's object is normal according to comparing, and when determining substation's object exception, hair
Warning message out.
It further, further include robot localization step, the robot localization step specifically:
Obtain the real-time position information of crusing robot, and the Dynamic Display inspection in 3D outdoor scene according to real-time position information
The tour track of robot and current positioning coordinate.
Further, further comprising the steps of:
The 3D live-action data of corresponding position is obtained in conjunction with warning message and real-time position information；
It is rendered according to 3D live-action data and plays three-dimensional live video, and by the essential information of the substation's object recognized
Result Overlapping display is analyzed on three-dimensional live video with comparing.
Further, further comprising the steps of:
After the selection information for obtaining input, corresponding three-dimensional live view is played in conjunction with selection information and the rendering of 3D live-action data
Frequently, the three-dimensional live video includes the real scene video of substation's object and the real scene video of operating personnel.
It further, further include establishing live 3D model step, foundation scene 3D model step specifically:
Scan the three-dimensional data of substation；
It is generated according to the three-dimensional data scanned and stores live 3D model.
Second technical solution of the present invention is:
Fixed acquisition module, for the fixation real-time video information using video acquisition module acquisition substation；
Mobile collection module, is moved in substation for controlling crusing robot and the shifting of mobile collection substation
Dynamic real-time video information；
Analysis module, for combining fixed real-time video information, mobile real-time video information and preset database to change
Power station Obj State is compared, and obtains comparison analysis result；
Outdoor scene module is established, for combining fixed real-time video information, mobile real-time video information and 3D model to generate simultaneously
Store 3D live-action data；
Polling module, for combining comparison analysis result and 3D live-action data to automatically generate inspection statistical report form.
Further, the analysis module includes:
Recognition unit is used to carry out certainly substation's object according to fixed real-time video information and mobile real-time video information
Dynamic identification, and after identifying successfully, obtain the essential information of substation's object；
Analytical unit for obtaining corresponding model information from preset database according to essential information, and combines mould
Substation's Obj State is compared in type information, fixed real-time video information and mobile real-time video information, and obtains
Compare analysis result；
Alarm unit for judging whether substation's object is normal according to comparison analysis result, and is determining substation
When object exception, alert.
It further, further include locating module, the locating module is used to obtain the real-time position information of crusing robot, and
According to real-time position information in 3D outdoor scene the tour track of Dynamic Display crusing robot and current positioning coordinate.
Third technical solution of the present invention is:
A kind of storage medium, wherein be stored with the executable instruction of processor, the executable instruction of the processor by
For executing the method when processor executes.
The beneficial effects of the present invention are: the present invention acquires power transformation by joint video acquisition module and crusing robot in real time
It after the real-time video information stood, is compared according to real-time video information, the type and shape of automatic identification substation object
State, and inspection statistical report form is automatically generated, the automation and intelligence of inspection are greatly improved, meets staff to intelligence
The high request of inspection.In addition, generate and store 3D live-action data in conjunction with real-time video information and scene 3D model, work can be allowed
Personnel immersively watch substation field, improve the efficiency and quality of intelligent patrol detection.
Detailed description of the invention
Fig. 1 is a kind of step flow chart of the joint method for inspecting based on substation of the present invention；
Fig. 2 is a kind of structural block diagram of the joint cruising inspection system based on substation of the present invention.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as the upper and lower, left and right used in open are only the mutual alignment pass relative to each component part of the disclosure in attached drawing
For system.The "an" of used singular, " described " and "the" are also intended to including most forms in the disclosure, are removed
Non- context clearly expresses other meaning.In addition, unless otherwise defined, all technical and scientific terms used herein
It is identical as the normally understood meaning of those skilled in the art.Term used in the description is intended merely to describe herein
Specific embodiment is not intended to be limiting of the invention.Term as used herein "and/or" includes one or more relevant
The arbitrary combination of listed item.
It will be appreciated that though various elements, but this may be described using term first, second, third, etc. in the disclosure
A little elements should not necessarily be limited by these terms.These terms are only used to for same type of element being distinguished from each other out.For example, not departing from
In the case where disclosure range, first element can also be referred to as second element, and similarly, second element can also be referred to as
One element.The use of provided in this article any and all example or exemplary language (" such as ", " such as ") is intended merely to more
Illustrate the embodiment of the present invention well, and unless the context requires otherwise, otherwise the scope of the present invention will not be applied and be limited.
Embodiment one
As shown in Figure 1, present embodiments providing a kind of joint method for inspecting based on substation, comprising the following steps:
S1, the fixation real-time video information that substation is acquired using video acquisition module；
S2, control crusing robot moves in substation and the mobile real-time video information of mobile collection substation；
S3, in conjunction with fixed real-time video information, mobile real-time video information and preset database to substation's object shape
State is compared, and obtains comparison analysis result；
S4, it is generated in conjunction with fixed real-time video information, mobile real-time video information and 3D model and stores 3D live-action data；
S5, inspection statistical report form is automatically generated in conjunction with comparison analysis result and 3D live-action data.
In the method for the present embodiment, 3D modeling is carried out to substation in advance, and be stored in the database on backstage.With
The development of Science & Society, present substation is Intelligent transformer station or automating power substation mostly, in the interior of substation
Equipped with control room, communication room and substation's object room etc., transformer, breaker, disconnecting switch etc. are equipped in the outdoor of substation
Capital equipment is scanned indoor wall and various fixed equipments when establishing substation's 3D model, to outdoor wall,
The changeless equipment of electric pole and position is scanned, and obtains live 3D model according to the data of scanning.
When only acquiring fixed real-time video information, it is easy to appear the blind area of video acquisition, missing inspection occurs, causes detection not
Accurately, the quality of inspection is reduced.By combining fixed real-time video information and mobile real-time video information, by can be effective
Improve inspection quality in ground.High-definition camera can be used to realize in the video acquisition module, and the high-definition camera is fixedly mounted
In the building of substation or in outdoor fixed object, the high-definition camera be it is fixed, collected picture is one
Region.Camera, wireless communication module and locating module are installed on the crusing robot, for being moved in substation,
And the mobile real-time video information of mobile collection substation, while substation's object can be carried out surrounding acquisition.Specifically, it patrols
Holder is installed in inspection robot, staff can be moved with remote control holder, so that control is shot from different perspectives.
Video acquisition module and crusing robot acquire the real-time video information of substation in real time, and by collected real-time video information
It is sent to background server.
Background server combines the real-time video information received and preset database to carry out substation's Obj State
Analysis is compared, substation's Obj State is equipment and/or field operation state, and the preset database purchase has power transformation
The 2-D data information and/or three-dimensional data information of all devices in standing, the 2-D data information includes the two dimension of each equipment
Model information, the three-dimensional data information include the three-dimensional model information of each equipment.Existing cruising inspection system can not automatically analyze
The type of object in substation, such as analysis object are transformer or ammeter etc., and the state of identification object, including equipment
Or the state of field operation, as whether sluice gate switch is opened, whether transformer is safely operated, whether on-site personnel operation advises
Model etc..In the present embodiment, it after background server receives real-time video information, is identified respectively according to real-time video information
Substation's object, and the correspondence model information of substation's object is obtained from database, after being compared in conjunction with corresponding informance,
Whether the working condition for analyzing substation's object is normal, and generates comparison analysis result.Wherein, the model information can basis
Collected real-time video information is updated, to keep the model information in database more accurate.By using model
It compares, can detect the operating condition of equipment more accurately, and in unit exception, it being capable of feedback device in time
Exception information, greatly improve the quality of inspection.
In background server, it is also used to that real-time video information and the live 3D model pre-established is combined to generate 3D outdoor scene
Data, and store the 3D live-action data.The scene 3D model is the model built in advance, and saves and calculate and apply beyond the clouds
In the database of layer.When specifically establishing the 3D model of substation, wall and various fixed equipments to building are scanned, to room
Outer wall, the changeless equipment of electric pole and position are scanned, and obtain live 3D model according to the data of scanning.
Collected real-time video information is merged with the live 3D model pre-established, to generate 3D live-action data, and will
The 3D live-action data is stored in preset memory space.It is real that staff in substation can obtain 3D by intelligent terminal
Scape data simultaneously play the real-time monitor video of substation, long-range click play can be carried out, particular by the clear of intelligent terminal
Device of looking at directly inputs or opens URL link access, checks the real-time 3D video in substation.Staff can pass through intelligent end
Hold input control information, such as the angle of switching chamber outer or indoor (including control room and meter room etc.) or image switching, energy
Enough see the picture of 360 degree of some position.Staff can be roamed, into immersion by input mobile message in 3D
Roaming scence, to realize outdoor scene 3 D intelligent inspection.In addition, staff can rapidly be cut by input selection information
With changing inspection scene, for example, from the first layer of building be rapidly switched to building the second layer, can check operation with real-time selection
(such as certain, display picture of the display picture (the work picture of such as substation field construction personnel) of personnel or certain instrument and meter
The data of the display screen or certain ammeter that control equipment are shown).In addition, by combining 3D live-action data and comparing analysis knot
Fruit automatically generates inspection statistical report form, and the inspection statistical report form record has the basic information of each object and work shape in substation
State information, the basic information include title, model and operation threshold parameter of equipment etc., and the work state information includes work
Status information or fault message when making, such as upper power information and temperature information etc..
The above method, being capable of providing the 3D video outdoor scene monitored picture that staff checks in substation is 3D vision
Video pictures make staff have the immersion on the spot in person checked to feel, more really, greatly improve and check
Effect.In addition, carrying out discriminance analysis to each substation's object automatically by acquisition real-time video information, and generate inspection statistics
Report greatlys improve the working efficiency of inspection, and saves the cost of inspection, improves the intelligence of automatic detecting, meets work
Make requirement of the personnel to existing substation to intelligent inspection.
Wherein, the fixed real-time video information of the combination, mobile real-time video information and 3D model generate and store 3D reality
The step for scape data, specifically: third real-time video information is superimposed to preset scene 3D model, and carries out fusion treatment
Afterwards, it generates and stores 3D live-action data.
Specifically, the step S3 specifically includes step S31~S33:
S31, automatic identification is carried out to substation's object according to fixed real-time video information and mobile real-time video information, and
After identifying successfully, the essential information of substation's object is obtained；
S32, corresponding model information is obtained from preset database according to essential information, and binding model information, solid
Determine real-time video information and substation's Obj State is compared in mobile real-time video information, and obtains comparison analysis knot
Fruit；
S33, judge whether substation's object is normal according to comparison analysis result, and abnormal determining substation's object
When, alert.
In the present embodiment, intelligent knowledge is carried out to substation's object in real-time video information according to preset learning algorithm
It is main transformer oil temperature gauge, then obtains the main transformer oil in preset database
The essential information (such as environmental parameter, equipment size parameter) of table, the normal working temperature threshold value including the main transformer oil table.It obtains
After getting essential information, corresponding model information is obtained from preset database according to essential information, the model information is pre-
It is first stored in data, binding model information, fixed real-time video information and mobile real-time video information are to substation's object shape
State is compared, and judges whether substation's Obj State is normal, for example substation's object is main transformer oil temperature gauge, and detects
Operating temperature to the main transformer oil table at that time is 90 DEG C, and its normal temperature threshold value is 70 DEG C, therefore main transformer oil table works
State is abnormal, sends warning message according to the essential information of the main transformer oil table.After alert, staff's energy
It is enough timely to be handled, improve the efficiency and quality of inspection.
Wherein, during crusing robot carries out mobile tour, robot is positioned in real time, specifically:
Obtain crusing robot real-time position information, according to real-time position information in 3D outdoor scene Dynamic Display survey monitor
The tour track of device people and current positioning coordinate.
The real-time position information for obtaining robot in real time, according to the tour of real-time position information real-time update crusing robot
Track, and dynamically show the situation of movement of crusing robot, for example crusing robot has been shown using the first display format
Path through making an inspection tour shows the remaining path that do not make an inspection tour using second of display format.Specifically, on video, using reality
Line shows the path maked an inspection tour, and shows the remaining path that do not make an inspection tour using dotted line, and according to the real-time position of crusing robot
Information update solid line and dotted line are set, facilitates administrative staff to understand the situation of robot, and make an inspection tour situation.
It is further used as preferred embodiment, when detecting the working state abnormal of substation's object, including with
Lower step A1~A2:
A1, the 3D live-action data that corresponding position is obtained in conjunction with warning message and real-time position information；
A2, it is rendered according to 3D live-action data and plays three-dimensional live video, and by the basic of the substation's object recognized
Information and comparison analysis result Overlapping display are on three-dimensional live video.
When discovery have substation's object occur work it is abnormal when, user can be according to warning message and real-time position information
It is quickly switched into position near substation's object.Specifically, it when detecting substation's object operation irregularity, is regarded making an inspection tour
Occurs alert icon on frequency, user passes through the 3D live-action data for clicking the alert icon quick obtaining corresponding position, and according to 3D
Live-action data rendering plays three-dimensional live video, and user is closely checked by three-dimensional live video, and searches detection
The reason of to substation's object operation irregularity.User can carry out roaming switch, roaming switch angle by input handover information
And on the spot in person, the effect of immersion inspection is realized so that 360 degree of progress is checked in position.
It is further used as preferred embodiment, further comprising the steps of:
After the selection information for obtaining input, corresponding three-dimensional live view is played in conjunction with selection information and the rendering of 3D live-action data
Frequently, the three-dimensional live video includes the real scene video of substation's object and the real scene video of operating personnel.
Staff can quickly select the 3D live-action data for obtaining different scenes by input selection information, thus real
Live scape is switched fast, for example quickly switches to outdoor from interior, or quickly switches to three buildings from the second floor of building, greatly
The efficiency and quality of ground raising staff's inspection.
It is further used as preferred embodiment, further includes establishing live 3D model step, foundation scene 3D model
Step specifically:
Scan the three-dimensional data of substation；
It is generated according to the three-dimensional data scanned and stores live 3D model.
The three-dimensional data of the environment of previously-scanned substation field, the environment at the scene include that some positions immobilize
Equipment, such as interior architecture (wall of control room and meter room) and enclosure wall, electric pole and the power transformation device of outdoor etc..It will scanning
After the three-dimensional data of acquisition is pre-processed, scene 3D model is generated.Specifically, outdoor electric pole and electric wire can pass through boat
Bat, aerial scanning device (hand-hold scanning equipment or other automatic scanning equipments) are scanned, and indoor building can use hand
It holds scanning device (such as with the camera of support frame) or other automatic scanning equipments (such as automatically scanning machine people) carries out field scan,
And obtain the three-dimensional datas such as corresponding two-dimension picture and depth information.The three-dimensional datas such as two-dimension picture and depth information to acquisition
Carry out model reparation, editing, cut, subtract face, subtract mould, compression, processing material, processing textures, processing light and compression rendering etc.
After the processing of step, scene 3D model is obtained, the live 3D model of acquisition is stored in preset memory space, when needing to call
When the 3D model of the scene, directly it is called.
Embodiment two
As shown in Fig. 2, present embodiments providing a kind of joint cruising inspection system based on substation, comprising:
Fixed acquisition module, for the fixation real-time video information using video acquisition module acquisition substation；
Mobile collection module, is moved in substation for controlling crusing robot and the shifting of mobile collection substation
Dynamic real-time video information；
Analysis module, for combining fixed real-time video information, mobile real-time video information and preset database to change
Power station Obj State is compared, and obtains comparison analysis result；
Outdoor scene module is established, for combining fixed real-time video information, mobile real-time video information and 3D model to generate simultaneously
Store 3D live-action data；
Polling module, for combining comparison analysis result and 3D live-action data to automatically generate inspection statistical report form.
It is further used as preferred embodiment, the analysis module includes:
Recognition unit is used to carry out certainly substation's object according to fixed real-time video information and mobile real-time video information
Dynamic identification, and after identifying successfully, obtain the essential information of substation's object；
Analytical unit for obtaining corresponding model information from preset database according to essential information, and combines mould
Substation's Obj State is compared in type information, fixed real-time video information and mobile real-time video information, and obtains
Compare analysis result；
Alarm unit for judging whether substation's object is normal according to comparison analysis result, and is determining substation
When object exception, alert.
It is further used as preferred embodiment, further includes locating module, the locating module is for obtaining inspection machine
The real-time position information of people, and according to real-time position information in 3D outdoor scene the tour track of Dynamic Display crusing robot and
Current positioning coordinate.
A kind of joint cruising inspection system based on substation of the present embodiment, executable embodiment of the present invention method one are provided
A kind of joint method for inspecting based on substation, any combination implementation steps of executing method embodiment have this method
Corresponding function and beneficial effect.
Embodiment three
A kind of storage medium is present embodiments provided, wherein being stored with the executable instruction of processor, the processor can
The instruction of execution is used to execute when executed by the processor one the method for embodiment.
A kind of storage medium of the present embodiment can be performed one kind provided by embodiment of the present invention method one and be based on substation
Joint method for inspecting, any combination implementation steps of executing method embodiment have the corresponding function of this method and beneficial
Effect.
It should be appreciated that the embodiment of the present invention can be by computer hardware, the combination of hardware and software or by depositing
The computer instruction in non-transitory computer-readable memory is stored up to be effected or carried out.Standard volume can be used in the method
Journey technology-includes that the non-transitory computer-readable storage media configured with computer program is realized in computer program,
In configured in this way storage medium computer is operated in a manner of specific and is predefined --- according in a particular embodiment
The method and attached drawing of description.Each program can with the programming language of level process or object-oriented come realize with department of computer science
System communication.However, if desired, the program can be realized with compilation or machine language.Under any circumstance, which can be volume
The language translated or explained.In addition, the program can be run on the specific integrated circuit of programming for this purpose.
In addition, the operation of process described herein can be performed in any suitable order, unless herein in addition instruction or
Otherwise significantly with contradicted by context.Process described herein (or modification and/or combination thereof) can be held being configured with
It executes, and is can be used as jointly on the one or more processors under the control of one or more computer systems of row instruction
The code (for example, executable instruction, one or more computer program or one or more application) of execution, by hardware or its group
It closes to realize.The computer program includes the multiple instruction that can be performed by one or more processors.
Further, the method can be realized in being operably coupled to suitable any kind of computing platform, wrap
Include but be not limited to PC, mini-computer, main frame, work station, network or distributed computing environment, individual or integrated
Computer platform or communicated with charged particle tool or other imaging devices etc..Each aspect of the present invention can be to deposit
The machine readable code on non-transitory storage medium or equipment is stored up to realize no matter be moveable or be integrated to calculating
Platform, such as hard disk, optical reading and/or write-in storage medium, RAM, ROM, so that it can be read by programmable calculator, when
Storage medium or equipment can be used for configuration and operation computer to execute process described herein when being read by computer.This
Outside, machine readable code, or part thereof can be transmitted by wired or wireless network.When such media include combining microprocessor
Or other data processors realize steps described above instruction or program when, invention as described herein including these and other not
The non-transitory computer-readable storage media of same type.When methods and techniques according to the present invention programming, the present invention
It further include computer itself.
Computer program can be applied to input data to execute function as described herein, to convert input data with life
At storing to the output data of nonvolatile memory.Output information can also be applied to one or more output equipments as shown
Device.In the preferred embodiment of the invention, the data of conversion indicate physics and tangible object, including the object generated on display
Reason and the particular visual of physical objects are described.
The above, only presently preferred embodiments of the present invention, the invention is not limited to above embodiment, as long as
It reaches technical effect of the invention with identical means, all within the spirits and principles of the present invention, any modification for being made,
Equivalent replacement, improvement etc., should be included within the scope of the present invention.Its technical solution within the scope of the present invention
And/or embodiment can have a variety of different modifications and variations.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of joint method for inspecting based on substation, which comprises the following steps:
Using the fixation real-time video information of video acquisition module acquisition substation；
Control crusing robot moves in substation and the mobile real-time video information of mobile collection substation；
Substation's Obj State is compared in conjunction with fixed real-time video information, mobile real-time video information and preset database
To analysis, and obtain comparison analysis result；
It is generated in conjunction with fixed real-time video information, mobile real-time video information and 3D model and stores 3D live-action data；
Inspection statistical report form is automatically generated in conjunction with comparison analysis result and 3D live-action data.
2. a kind of joint method for inspecting based on substation according to claim 1, which is characterized in that the combination is fixed
Substation's Obj State is compared in real-time video information, mobile real-time video information and preset database, and obtains
The step for analysis result must be compared, specifically includes the following steps:
Automatic identification is carried out to substation's object according to fixed real-time video information and mobile real-time video information, and is being identified as
After function, the essential information of substation's object is obtained；
Corresponding model information, and binding model information, fixed view in real time are obtained from preset database according to essential information
Substation's Obj State is compared in frequency information and mobile real-time video information, and obtains comparison analysis result；
It analyzes result judges whether substation's object is normal according to comparing, and when determining substation's object exception, issues report
Alert information.
3. a kind of joint method for inspecting based on substation according to claim 2, which is characterized in that further include robot
Positioning step, the robot localization step specifically:
Obtain crusing robot real-time position information, and according to real-time position information in 3D outdoor scene Dynamic Display inspection machine
The tour track of people and current positioning coordinate.
4. a kind of joint method for inspecting based on substation according to claim 3, which is characterized in that further include following step
It is rapid:
The 3D live-action data of corresponding position is obtained in conjunction with warning message and real-time position information；
It is rendered according to 3D live-action data and plays three-dimensional live video, and by the essential information and ratio of the substation's object recognized
To analysis result Overlapping display on three-dimensional live video.
5. a kind of joint method for inspecting based on substation according to claim 1, which is characterized in that further include following step
It is rapid:
After the selection information for obtaining input, corresponding three-dimensional live video is played in conjunction with selection information and the rendering of 3D live-action data,
The three-dimensional live video includes the real scene video of substation's object and the real scene video of operating personnel.
6. a kind of joint method for inspecting based on substation according to claim 1, which is characterized in that further include establishing now
Field 3D model step, foundation scene 3D model step specifically:
Scan the three-dimensional data of substation；
It is generated according to the three-dimensional data scanned and stores live 3D model.
7. a kind of joint cruising inspection system based on substation characterized by comprising
Fixed acquisition module, for the fixation real-time video information using video acquisition module acquisition substation；
Mobile collection module, is moved in substation for controlling crusing robot and the mobile reality of mobile collection substation
When video information；
Analysis module, for combining fixed real-time video information, mobile real-time video information and preset database to substation
Obj State is compared, and obtains comparison analysis result；
Outdoor scene module is established, for combining fixed real-time video information, mobile real-time video information and 3D model to generate and storing
3D live-action data；
Polling module, for combining comparison analysis result and 3D live-action data to automatically generate inspection statistical report form.
8. a kind of joint cruising inspection system based on substation according to claim 7, which is characterized in that the analysis module
Include:
Recognition unit, for being known automatically according to fixed real-time video information and mobile real-time video information to substation's object
Not, and after identifying successfully, the essential information of substation's object is obtained；
Analytical unit, for obtaining corresponding model information from preset database according to essential information, and binding model is believed
Substation's Obj State is compared in breath, fixed real-time video information and mobile real-time video information, and is compared
Analyze result；
Alarm unit for judging whether substation's object is normal according to comparison analysis result, and is determining substation's object
When abnormal, alert.
9. a kind of joint cruising inspection system based on substation according to claim 8, which is characterized in that further include positioning mould
Block, the locating module are used to obtain the real-time position information of crusing robot, and according to real-time position information in 3D outdoor scene
The tour track of Dynamic Display crusing robot and current positioning coordinate.
10. a kind of storage medium, wherein being stored with the executable instruction of processor, which is characterized in that the processor is executable
Instruction be used to execute such as any one of claim 1-6 the method when executed by the processor.
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