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 PDF

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Publication number
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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China
Prior art keywords
substation
real
information
video information
time video
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CN201910559867.3A
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Chinese (zh)
Inventor
李新福
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Guangdong Kangyun Technology Co Ltd
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Guangdong Kangyun Technology Co Ltd
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Priority to CN201910559867.3A priority Critical patent/CN110400387A/en
Publication of CN110400387A publication Critical patent/CN110400387A/en
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00Three dimensional [3D] modelling, e.g. data description of 3D objects
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00Manipulating 3D models or images for computer graphics
    • G06T19/20Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
    • GPHYSICS
    • G07CHECKING-DEVICES
    • G07CTIME 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
    • G07C1/00Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20Checking timed patrols, e.g. of watchman

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

A kind of joint method for inspecting, system and storage medium based on substation
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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