CN110417120A - A kind of substation's outdoor scene 3 D intelligent cruising inspection system and method - Google Patents
A kind of substation's outdoor scene 3 D intelligent cruising inspection system and method Download PDFInfo
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- CN110417120A CN110417120A CN201910559844.2A CN201910559844A CN110417120A CN 110417120 A CN110417120 A CN 110417120A CN 201910559844 A CN201910559844 A CN 201910559844A CN 110417120 A CN110417120 A CN 110417120A
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention discloses a kind of substation's outdoor scene 3 D intelligent cruising inspection system and methods, and wherein system includes: sensing layer, for acquiring the real-time video information of substation；Network layer, for being stored to the real-time video information received；Edge calculations layer for combining the real-time video information that receives and preset database that substation's Obj State is compared, and will compare analysis result and real-time video information is uploaded to cloud and calculates and application layer；Cloud calculates and application layer, for combining real-time video information and the live 3D model pre-established to generate and store 3D live-action data, and combines 3D live-action data and compares analysis result and automatically generate inspection statistical report form.After real-time video information of the present invention by acquiring substation in real time, it is compared according to real-time video information, and automatically generate inspection statistical report form, greatly improve the working efficiency of inspection and save the cost of inspection, it 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 substation's outdoor scene 3 D intelligent cruising inspection system and sides
Method.
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
The mode of control can only provide the video monitoring picture of 2D mostly, fail to show the live video stream of substation field with substation
The threedimensional model of field merges to generate the 3D outdoor scene monitored picture of substation field, can not provide 360 degree of immersions without dead angle
Roam inspection experience, it is difficult to achieve the effect that really to make an inspection tour.Moreover, existing cruising inspection system can not automatically analyze substation's object
Type, and whether the state for analyzing substation's object normal, is unable to satisfy staff and patrols to existing substation to intelligence
The requirement of inspection.
Summary of the invention
In order to solve the above-mentioned technical problem, inspection point is carried out to substation's object automatically the object of the present invention is to provide a kind of
Analysis and the cruising inspection system and method for improving the monitoring of 3D outdoor scene.
First technical solution of the present invention is:
A kind of substation's outdoor scene 3 D intelligent cruising inspection system, comprising:
Sensing layer is uploaded to net for acquiring the real-time video information of substation, and by collected real-time video information
Network layers, the real-time video information include fixed real-time video information and mobile real-time video information；
Real-time video information for storing to the real-time video information received, and is uploaded to side by network layer
Edge computation layer；
Edge calculations layer, for combining the real-time video information received and preset database to substation's Obj State
Be compared, and will compare analysis result and real-time video information be uploaded to cloud calculate and application layer；
Cloud calculates and application layer, for combining real-time video information and the live 3D model pre-established to generate and storing
3D live-action data, and combine 3D live-action data and compare analysis result and automatically generate inspection statistical report form.
Further, the sensing layer includes:
High definition video collecting module for acquiring the fixation real-time video information of fixed area in substation, and will fix
Real-time video information is uploaded to network layer；
Crusing robot, for being moved in substation and the mobile real-time video information of mobile collection substation, and
Mobile real-time video information is uploaded to network layer.
Further, the network layer includes:
SCSI hard disk video recorder, for receiving and storing fixed real-time video information, and will fixed real-time video information
It is uploaded to edge calculations layer；
Security gateway, for receiving mobile real-time video information, and will be after mobile real-time video information is forwarded to robot
Platform server；
Robot background server for monitoring the working condition of crusing robot, and acquires the position of crusing robot
Information, and store real-time video information and mobile real-time video information is uploaded to edge calculations layer.
Further, the edge calculations layer includes:
Intellectual analysis host, for combining the real-time video information received and preset database to substation's object shape
State is compared, and will compare analysis result and real-time video information be uploaded to cloud calculate and application layer；
Comprehensively monitoring host for being monitored based on the analysis results to substation, and is detecting that substation's object goes out
When existing failure, alert.
Further, the cloud calculates and application layer includes:
Management server, for cloud calculate and application layer in hardware device and software equipment be managed；
Streaming media server, the format for controlling 3D live-action data is converted and transmission, to realize long-range inspection power transformation
It stands；
Outdoor scene three-dimensional server, for combining real-time video information and the live 3D model pre-established to generate and storing 3D
Live-action data, and according to 3D live-action data displaying three-dimensional live video, and combine 3D live-action data and compare analysis result certainly
It is dynamic to generate inspection statistical report form.
Further, further includes:
3D scanning means, for scanning three-dimensional data and the upload of substation；
Model generation module, for live 3D model to be generated and stored according to the three-dimensional data scanned.
Second technical solution of the present invention is:
A kind of substation's outdoor scene 3 D intelligent method for inspecting, comprising the following steps:
The real-time video information in substation is acquired and stores, the real-time video information includes fixed real-time video information
With mobile real-time video information；
Substation's Obj State is compared in conjunction with the real-time video information and preset database received, and
It obtains and compares analysis result；
It is generated in conjunction with real-time video information and the live 3D model pre-established and stores 3D live-action data；
Inspection statistical report form is automatically generated in conjunction with 3D live-action data and comparison analysis result.
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.
Further, described the step for acquiring and storing the real-time video information in substation, specifically:
Using the fixation real-time video information of fixed area in high definition video collecting module acquisition substation；
It is moved in control crusing robot substation, and the mobile real-time video information of mobile collection substation.
Further, the combination real-time video information and the live 3D model pre-established generate and store 3D live-action data
The step for, comprising the following steps:
After being analyzed and processed to fixed real-time video information and mobile real-time video information, third real-time video letter is obtained
Breath；
Third real-time video information is superimposed to preset scene 3D model, and after carrying out fusion treatment, generates and stores
3D live-action data.
The beneficial effects of the present invention are: after real-time video information of the present invention by acquiring substation in real time, according to real-time
Video information is compared, the type and state of automatic identification substation object, and automatically generates inspection statistical report form, pole
The earth improves the automation and intelligence of inspection, meets staff to the high request of intelligent patrol detection.In addition, combining view in real time
Frequency information and scene 3D model generate and store 3D live-action data, staff can be allowed immersively to watch substation existing
, improve the efficiency and quality of intelligent patrol detection.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of substation's outdoor scene 3 D intelligent cruising inspection system of the present invention；
Fig. 2 is a kind of step flow chart of substation's outdoor scene 3 D intelligent method for inspecting 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 substation's outdoor scene 3 D intelligent cruising inspection system, comprising:
Sensing layer is uploaded to net for acquiring the real-time video information of substation, and by collected real-time video information
Network layers, the real-time video information include fixed real-time video information and mobile real-time video information；
Real-time video information for storing to the real-time video information received, and is uploaded to side by network layer
Edge computation layer；
Edge calculations layer, for combining the real-time video information received and preset database to substation's Obj State
Be compared, and will compare analysis result and real-time video information be uploaded to cloud calculate and application layer；
Cloud calculates and application layer, for combining real-time video information and the live 3D model pre-established to generate and storing
3D live-action data, and combine 3D live-action data and compare analysis result and automatically generate inspection statistical report form.
The sensing layer is used to acquire the real-time video information of substation, and the real-time video information includes fixed view in real time
Frequency information and mobile real-time video information, the fixed real-time video information be by the collected video information of fixed equipment,
For example camera is fixedly installed in substation, and by the video information of camera acquisition fixed area, the movement is real-time
Video information is the real-time video information arrived by mobile device mobile collection, for example passes through mobile robot or unmanned aerial vehicle
In substation, the video information of substation is acquired mobilely.When only acquiring fixed real-time video information, it is easy to appear view
, there is missing inspection in the blind area of frequency acquisition, causes detection inaccuracy, reduces the quality of inspection.By combining fixed real-time video letter
Breath and mobile real-time video information, by the way that inspection quality can be effectively improved.
After sensing layer gets real-time video information, the real-time video information that will acquire is sent to network layer, the net
Network layers store real-time video information, and the real-time video information received is sent to edge by network mode in real time
Computation layer.
The edge calculations layer is used to combine the real-time video information received and preset database to substation's object
State is compared, and substation's Obj State is equipment and/or field operation state, the preset data inventory
The 2-D data information and/or three-dimensional data information of all devices in substation are contained, the 2-D data information includes respectively setting
Standby two dimensional model information, the three-dimensional data information include the three-dimensional model information of each equipment.Existing cruising inspection system can not
The type of object in substation is automatically analyzed, for example analysis object is transformer or ammeter etc., and identifies the state of object,
State including equipment or field operation, as whether sluice gate switch is opened, whether transformer is safely operated, on-site personnel behaviour
Whether standardize etc..In the present embodiment, after edge calculations layer receives real-time video information, according to real-time video information
Identify each substation's object, and obtain the correspondence model information of substation's object from database, in conjunction with corresponding informance into
After row compares, whether the working condition for analyzing substation's object is normal, and will compare on analysis result and real-time video information
Reach cloud calculating and application layer.Wherein, the database can be set in edge calculations layer, also can be set and calculates beyond the clouds
And application layer；When data lab setting calculates and when application layer, edge calculations layer is calculated after recognizing equipment with cloud beyond the clouds
And application layer interaction obtains corresponding model information and is compared.The model information can be according to collected real-time video information
It is updated, to keep the model information in database more accurate.By using the comparison of model, can examine more accurately
The operating condition of equipment is measured, and in unit exception, is capable of the exception information of feedback device in time, greatlys improve
The quality of inspection.
The cloud calculates and application layer is used to that real-time video information and the live 3D model pre-established to be combined to generate 3D
Live-action data, and store the 3D live-action data.The scene 3D model is the model built in advance, and save beyond the clouds calculate and
In the database of application layer.When specifically establishing the 3D model of substation, wall and various fixed equipments to building are scanned,
Outdoor wall, the changeless equipment of electric pole and position are scanned, and obtain live 3D according to the data of scanning
Model.Collected real-time video information is merged with the live 3D model pre-established, so that 3D live-action data is generated,
And the 3D live-action data is stored in preset memory space.Staff in substation can be obtained by intelligent terminal
3D live-action data simultaneously plays the real-time monitor video of substation, long-range click play can be carried out, particular by intelligent terminal
Browser directly input or open URL link access, check the real-time 3D video in substation.Staff can pass through intelligence
Energy terminal input control information, such as the angle of switching chamber outer or indoor (including control room and meter room etc.) or image switching
Degree, it can be seen that the picture of 360 degree of some position.Staff can be roamed by input mobile message in 3D, into heavy
Immersion roaming scence, to realize outdoor scene 3 D intelligent inspection.In addition, staff selects information by input, it can be quick
Ground switches inspection ground scene, for example the second layer of building is rapidly switched to from the first layer of building, can be checked with real-time selection
The display picture of the display picture (the work picture of such as substation field construction personnel) of operating personnel or certain instrument and meter is (such as
The data of certain display screen or certain ammeter for controlling equipment are shown).In addition, being divided by combining 3D live-action data and comparing
Analysis result automatically generates inspection statistical report form, and the inspection statistical report form record has the basic information and work of each object in substation
Make status information, the basic information includes title, model and operation threshold parameter of equipment etc., the work state information packet
Include the status information or fault message when work, such as upper power information and temperature information etc..
Above system, 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.
It is further used as preferred embodiment, the sensing layer includes:
High definition video collecting module for acquiring the fixation real-time video information of fixed area in substation, and will fix
Real-time video information is uploaded to network layer；
Crusing robot, for being moved in substation and the mobile real-time video information of mobile collection substation, and
Mobile real-time video information is uploaded to network layer.
High-definition camera can be used to realize in the high definition video collecting module, and the high-definition camera is fixedly mounted on change
In the building in power station or in outdoor fixed object, the high-definition camera be it is fixed, collected picture is a region.
Camera, wireless communication module and locating module are installed, the crusing robot passes through channel radio on the crusing robot
It interrogates module and network layer carries out communication connection.It when robot inspection, is moved in substation, passes through camera while moving
Video acquisition is carried out, while substation's object can be carried out surrounding acquisition, and collected video information is sent in real time
Network layer.Specifically, holder is installed on crusing robot, staff can be moved with remote control holder, thus control from
Different angle is shot.
It is further used as preferred embodiment, the network layer includes:
SCSI hard disk video recorder, for receiving and storing fixed real-time video information, and will fixed real-time video information
It is uploaded to edge calculations layer；
Security gateway, for receiving mobile real-time video information, and will be after mobile real-time video information is forwarded to robot
Platform server；
Robot background server for monitoring the working condition of crusing robot, and acquires the position of crusing robot
Information, and store real-time video information and mobile real-time video information is uploaded to edge calculations layer.
The SCSI hard disk video recorder is used to store the fixation real-time video information uploaded by high definition video collecting module, and
The real-time video information received is uploaded to edge calculations layer.The security gateway is used to receive the shifting of crusing robot upload
The running parameter of dynamic real-time video information and crusing robot, and the information received is forwarded to robot background server；
And issue the control signal of robot background server control crusing robot.The robot background server is for storing
The mobile real-time video information that crusing robot uploads, and mobile real-time video information is sent to edge calculations layer, Yi Jifa
It send control information to crusing robot and obtains the location information of crusing robot.
It is further used as preferred embodiment, the edge calculations layer includes:
Intellectual analysis host, for combining the real-time video information received and preset database to substation's object shape
State is compared, and will compare analysis result and real-time video information be uploaded to cloud calculate and application layer；
Comprehensively monitoring host for being monitored based on the analysis results to substation, and is detecting that substation's object goes out
When existing failure, alert.
The intellectual analysis host is calculated after receiving real-time video information in conjunction with real-time video information and preset identification
Method identifies the equipment of substation, and after recognition, corresponding model information is obtained from database, and binding model is believed
Breath is compared, to judge whether the working condition of equipment is normal.It is described when depositing faulty equipment by comparing discovery
Comprehensively monitoring host sends warning message according to the equipment of failure, notifies staff to handle in time, greatly mentions
High failure response efficiency, improves the quality of inspection.
It is further used as preferred embodiment, the cloud calculates and application layer includes:
Management server, for cloud calculate and application layer in hardware device and software equipment be managed；
Streaming media server, the format for controlling 3D live-action data is converted and transmission, to realize long-range inspection power transformation
It stands；
Outdoor scene three-dimensional server, for combining real-time video information and the live 3D model pre-established to generate and storing 3D
Live-action data, and according to 3D live-action data displaying three-dimensional live video, and combine 3D live-action data and compare analysis result certainly
It is dynamic to generate inspection statistical report form；
On-line training server, in conjunction with real-time video information and preset convolutional neural networks to live 3D model into
Row training updates.
The management server can be used existing for managing cloud calculating and hardware device and software equipment in application layer
Some equipment is realized.The streaming media server is used to control the upload of data and transmits, to realize long-range acquisition
3D live-action data, and 3D real scene video is played according to 3D live-action data.The outdoor scene three-dimensional server is used to combine third real-time
After video information and the live 3D model pre-established are merged, 3D live-action data is generated and saves, according to 3D live-action data
Play 3D real scene video.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.It is described by the way that video information and scene 3D model additive fusion are generated 3D live-action data
3D live-action data be it is coherent, by inputting handover information, staff can be roamed.For example staff passes through switching
Picture may be implemented the outdoor for consistently roaming into substation out of substation building, greatly improve the effect of tour.Separately
Outside, by acquiring real-time video information, inspection statistical report form is automatically generated, greatlys improve the working efficiency of inspection, and save
The cost of inspection.The on-line training server is used for through persistence algorithm and preset intelligent algorithm constantly to scene
3D model is trained update, to be that live 3D model is more accurate.
It is further used as preferred embodiment, further includes:
3D scanning means, for scanning three-dimensional data and the upload of substation；
Model generation module, for live 3D model to be generated and stored according to the three-dimensional data scanned.
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 substation's outdoor scene 3 D intelligent method for inspecting, comprising the following steps:
S1, acquisition simultaneously store real-time video information in substation, and the real-time video information includes fixed real-time video
Information and mobile real-time video information；
S2, substation's Obj State is compared point in conjunction with the real-time video information and preset database received
Analysis, and obtain comparison analysis result；
S3, it is generated in conjunction with real-time video information and the live 3D model pre-established and stores 3D live-action data；
S4, inspection statistical report form is automatically generated in conjunction with 3D live-action data and comparison analysis result.
Wherein, step S1 specifically includes step S11~S12:
S11, the fixation real-time video information that fixed area in substation is acquired using high definition video collecting module；
It is moved in S12, control crusing robot substation, and the mobile real-time video information of mobile collection substation.
Wherein, step S3, specifically: real-time video information is superimposed to preset scene 3D model, and is carried out at fusion
After reason, generates and store 3D live-action data.
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.
Suitable for this method embodiment, this method embodiment is implemented content in the above system embodiment
Function is identical as the above system embodiment, and the beneficial effect reached and the above system embodiment beneficial effect achieved
It is identical.
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 substation's outdoor scene 3 D intelligent cruising inspection system characterized by comprising
Sensing layer is uploaded to network layer for acquiring the real-time video information of substation, and by collected real-time video information,
The real-time video information includes fixed real-time video information and mobile real-time video information；
Real-time video information for storing to the real-time video information received, and is uploaded to edge meter by network layer
Calculate layer；
Edge calculations layer, for combining the real-time video information received and preset database to carry out substation's Obj State
Compare analysis, and will compare analysis result and real-time video information be uploaded to cloud calculate and application layer；
Cloud calculates and application layer, for combining real-time video information and the live 3D model pre-established to generate and storing 3D reality
Scape data, and combine 3D live-action data and compare analysis result and automatically generate inspection statistical report form.
2. a kind of substation's outdoor scene 3 D intelligent cruising inspection system according to claim 1, which is characterized in that the sensing layer
Include:
High definition video collecting module, for acquiring the fixation real-time video information of fixed area in substation, and will be fixed real-time
Video information is uploaded to network layer；
Crusing robot for moving in substation and the mobile real-time video information of mobile collection substation, and will move
Dynamic real-time video information is uploaded to network layer.
3. a kind of substation's outdoor scene 3 D intelligent cruising inspection system according to claim 2, which is characterized in that the network layer
Include:
SCSI hard disk video recorder for receiving and storing fixed real-time video information, and fixed real-time video information is uploaded
To edge calculations layer；
Mobile real-time video information for receiving mobile real-time video information, and is forwarded to robot backstage and taken by security gateway
Business device；
Robot background server for monitoring the working condition of crusing robot, and acquires the location information of crusing robot,
And it stores and mobile real-time video information is uploaded to edge calculations layer.
4. a kind of substation's outdoor scene 3 D intelligent cruising inspection system according to claim 3, which is characterized in that the edge meter
Calculating layer includes:
Intellectual analysis host, for combine the real-time video information that receives and preset database to substation's Obj State into
Row compare analysis, and will compare analysis result and real-time video information be uploaded to cloud calculate and application layer；
Comprehensively monitoring host for being monitored based on the analysis results to substation, and is detecting the appearance event of substation's object
When barrier, alert.
5. a kind of substation's outdoor scene 3 D intelligent cruising inspection system according to claim 4, which is characterized in that the cloud meter
It calculates and application layer includes:
Management server, for cloud calculate and application layer in hardware device and software equipment be managed；
Streaming media server, the format for controlling 3D live-action data is converted and transmission, to realize long-range inspection substation；
Outdoor scene three-dimensional server, for combining real-time video information and the live 3D model pre-established to generate and storing 3D outdoor scene
Data, and three-dimensional live video is shown according to 3D live-action data, and combine 3D live-action data and compare analysis result and give birth to automatically
At inspection statistical report form.
6. a kind of substation's outdoor scene 3 D intelligent cruising inspection system according to claim 1, which is characterized in that further include:
3D scanning means, for scanning three-dimensional data and the upload of substation；
Model generation module, for live 3D model to be generated and stored according to the three-dimensional data scanned.
7. a kind of substation's outdoor scene 3 D intelligent method for inspecting, which comprises the following steps:
The real-time video information in substation is acquired and stores, the real-time video information includes fixed real-time video information and shifting
Dynamic real-time video information；
Substation's Obj State is compared in conjunction with the real-time video information and preset database received, and is obtained
Compare analysis result；
It is generated in conjunction with real-time video information and the live 3D model pre-established and stores 3D live-action data；
Inspection statistical report form is automatically generated in conjunction with 3D live-action data and comparison analysis result.
8. a kind of substation's outdoor scene 3 D intelligent method for inspecting according to claim 7, which is characterized in that 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.
9. a kind of substation's outdoor scene 3 D intelligent method for inspecting according to claim 7, which is characterized in that the acquisition is simultaneously
The step for storing the real-time video information in substation, specifically:
Using the fixation real-time video information of fixed area in high definition video collecting module acquisition substation；
It is moved in control crusing robot substation, and the mobile real-time video information of mobile collection substation.
10. a kind of substation's outdoor scene 3 D intelligent method for inspecting according to claim 9, which is characterized in that the combination
The step for real-time video information and the live 3D model pre-established generate and store 3D live-action data, comprising the following steps:
Real-time video information is superimposed to preset scene 3D model, and after carrying out fusion treatment, generates and stores 3D outdoor scene number
According to.
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