CN110533771A - A kind of intelligent polling method of substation - Google Patents
A kind of intelligent polling method of substation Download PDFInfo
- Publication number
- CN110533771A CN110533771A CN201910771766.2A CN201910771766A CN110533771A CN 110533771 A CN110533771 A CN 110533771A CN 201910771766 A CN201910771766 A CN 201910771766A CN 110533771 A CN110533771 A CN 110533771A
- Authority
- CN
- China
- Prior art keywords
- inspection
- substation
- video
- data
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/20—Administration of product repair or maintenance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/06—Electricity, gas or water supply
-
- 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
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Resources & Organizations (AREA)
- Economics (AREA)
- Theoretical Computer Science (AREA)
- General Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Tourism & Hospitality (AREA)
- Strategic Management (AREA)
- Marketing (AREA)
- General Health & Medical Sciences (AREA)
- Geometry (AREA)
- Water Supply & Treatment (AREA)
- Primary Health Care (AREA)
- Public Health (AREA)
- Software Systems (AREA)
- Computer Graphics (AREA)
- Power Engineering (AREA)
- Entrepreneurship & Innovation (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The invention belongs to substation inspection method and technology fields, and in particular to a kind of intelligent polling method of substation, step includes S1: establishing the threedimensional model of substation, carry out 3 D video fusion display to substation；S2: the polling path of crusing robot is set in the three-dimensional model；S3: the crusing robot of substation carries out inspection according to the polling path of setting, and inspection data are uploaded to Ji Kong main website；S4: Ji Kong main website stores inspection data, and is analyzed and processed to inspection data.The present invention solves the problems, such as that inefficiency caused by transformer equipment operation data needs manual record and meter reading, the quality of data are poor, and it is horizontal to improve inspection operation automation.
Description
Technical field
The invention belongs to substation inspection method and technology fields, and in particular to a kind of intelligent polling method of substation.
Background technique
With the development of society, people's lives, production, science are increasingly dependent on electric power, if electric power goes wrong,
The infrastructure such as communication system, lighting system, water system also will sink into paralysis.How to guarantee enterprise's power equipment safety,
Stable operation finds that security risk is simultaneously excluded in time, is the new of all power equipment system patrol officers and administrative staff
Project and new challenge.
In electric system, equipment routing inspection is the important leverage for guaranteeing equipment stabilization, operating normally.With power grid scale
Expand the increase with equipment, O&M inspection workload is growing day by day, and the contradiction of equipment and people are increasingly prominent.Currently, substation
Inspection relies on the case where experience is to each equipment, parameter to verify, judge and record essentially by patrol officer, this
Traditional routine inspection mode has not adapted to the Informatization Development of enterprise more and more, and inspection process places one's entire reliance upon inspector's
Initiative inevitably has careless omission and mistake, cannot find potential faults in time.
In addition, existing power equipment information management system biases toward outline management, patrol record is all to submit afterwards, nothing
Method accurately grasps equipment running status information in real time, therefore there is an urgent need to use automation means, promotes inspection quality, reduce
Inspection workload, it is ensured that timely discovering device hidden danger is simultaneously eliminated in time.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of intelligent polling methods of substation, and specific technical solution is such as
Under:
A kind of intelligent polling method of substation, comprising the following steps:
S1: establishing the threedimensional model of substation, carries out 3 D video fusion display to substation；
S2: the polling path of crusing robot is set in the three-dimensional model；
S3: the crusing robot of substation carries out inspection according to the polling path of setting, and inspection data are uploaded to collection control master
It stands；
S4: Ji Kong main website stores inspection data, and is analyzed and processed to inspection data.
Preferably, the step S1 the following steps are included:
S11: three-dimensional authentic building is carried out to inspection scene；
S12: spliced using the video data that video fusion technology will be distributed over the monitor camera in key monitoring region, matched
Quasi-, correction and fusion treatment；
S13: round-the-clock continual panoramic video is carried out to emphasis monitoring area and is monitored；
S14: the actual position of crusing robot is merged with the threedimensional model of substation, establishes the 3 D video mould of substation
Type.
Preferably, S121: outdoor scene and three-dimensional scenic by take photo by plane carry out it is corresponding, and by the geographical coordinate of outdoor scene
Three dimensional space coordinate is converted to, formula is as follows:
；
Wherein,For the three dimensional space coordinate after conversion；,,It is the longitude, latitude and sea of camera position respectively
It pulls out；,It is the longitude and latitude in the landform upper left corner respectively；It is the geographical coordinate in the landform upper left corner；,It is boat respectively
Clap width, the height of map；For map of taking photo by plane the high zoom factor of width,For map of taking photo by plane high zoom factor,For height above sea level with
The scaling corresponding relationship of the height coordinate of three-dimensional space；
S122: indoor scene is modeled by laser scanning methods, and indoor geographical coordinate is converted to three-dimensional space and is sat
Mark, formula are as follows:
；
Wherein,For the coordinate in indoor model space,,,It is scaling square of the model conversion to three-dimensional space respectively
Battle array, spin matrix and translation matrix；
S123: pass through displacement, rotation angle computation model-viewing matrix, formula is as follows:
；
Wherein,The respectively inverse matrix of scaled matrix, spin matrix, translation matrix；
S124: pass through the field angle of video camera, video aspect ratio, focal lengthCalculate projection matrix, formula is as follows:
；
S125: the texture coordinate of piece member is calculated:；
S126: the texture color of piece member is calculated:；
Wherein, T is video image,For texture sampling function；
S127: after the texture color and texture coordinate that calculate slice member, video image is plotted to the threedimensional model of inspection scene
On, to realize merging for video and three-dimensional scenic.
Preferably, the step S2 the following steps are included:
S21: requiring according to patrol task, and operator sets polling path in the three-dimensional model；
S22: it by threedimensional model coordinate and actual geographic left side incidence relation, realizes in threedimensional model auto-associating polling path
Enhancing merge video, by entire inspection scene enhancing fusion video show one by one；
S23: synchronizing the video of any time, and the video of the historical period is corresponded to different grades of region, by correspondence
The display mode in region carries out whole display playback；
S24: the floor manager for obtaining other related systems dispatches valuable operation data, in a manner of virtual label, floats
On realtime graphic or control platform.
Preferably, the step S3 the following steps are included:
S31: the Intelligent Mobile Robot Ji Kong main website of Heterogeneous Data Processing is docked with robot substation system, real-time display
The direction of travel of crusing robot, monitoring data；
S32: obtaining the patrol task information of production management system, formulates inspection content, the time, period, road of crusing robot
Line parameter information, issues patrol task；
S33: crusing robot carries out automatic detecting to substation according to the patrol task of formulation；
S34: robot inspection note abnormalities situation when in map pop-up warning message；
S35: operator on duty checks alarm detail by the Intelligent Mobile Robot Ji Kong main website of Heterogeneous Data Processing, or passes through
Manual operation mode is remotely controlled inspection machine user tripod head, checks alarm real-time scene；
S36: instrumented data, the image data acquired in conjunction with crusing robot, camera carries out preliminary equipment state analysis,
And automatically generate inspection report.
Preferably, the step S4 the following steps are included:
S41: manual inspection data, robot inspection data, video routing inspection data are automatically stored；
S42: above-mentioned data are analyzed using big data technology, are excavated；
S43: inspection analysis report is automatically generated.
The invention has the benefit that
Compared with traditional routine inspection mode, the present invention passes patrol record and defect record information in such a way that upload is implemented in internet
It is defeated by management terminal, provides more more options and research direction for intelligent patrol detection, existing integrated control platform system is accessed, realizes all kinds of numbers
According to reading, integration and calculating, comprehensive analysis, preferably to equipment health degree carry out multi-angle judgement, pre- measurement equipment lack
It falls into, hidden danger is eliminated into the lower budding stage, guarantees substation safety stable operation.
The present invention solves transformer equipment operation data and needs inefficiency, data matter caused by manual record and meter reading
It is horizontal to improve inspection operation automation for the problem for measuring difference；It solves traditional artificial inspection to place one's entire reliance upon the duty of patrol officer
Ren Xinyu experience ensure that the arrival rate of inspection operation；It solves inspection report hysteresis quality, realizes inspection real time data acquisition simultaneously
It uploads, solves data secondary operation Input, be arranged by threshold value, realize abnormal Realtime Alerts, improve routing inspection efficiency.
Detailed description of the invention
Fig. 1 is flow diagram of the invention；
Fig. 2 is the inspection flow chart of crusing robot.
Specific embodiment
In order to better understand the present invention, the present invention will be further explained below with reference to the attached drawings and specific examples:
As shown in Figure 1, a kind of intelligent polling method of substation, comprising the following steps:
S1: establishing the threedimensional model of substation, carries out 3 D video fusion display to substation；The following steps are included:
S11: using take photo by plane, laser scanning methods carry out three-dimensional authentic building to inspection scene；
S12: spliced using the video data that video fusion technology will be distributed over the monitor camera in key monitoring region, matched
Quasi-, correction and fusion treatment；It is specific as follows:
S121: outdoor scene and three-dimensional scenic carry out corresponding by taking photo by plane, and the geographical coordinate of outdoor scene are converted to three-dimensional
Space coordinate, formula are as follows:
；
Wherein,For the three dimensional space coordinate after conversion；,,It is the longitude, latitude and sea of camera position respectively
It pulls out；,It is the longitude and latitude in the landform upper left corner respectively；It is the geographical coordinate in the landform upper left corner；,It is boat respectively
Clap width, the height of map；For map of taking photo by plane the high zoom factor of width,For map of taking photo by plane high zoom factor,For height above sea level with
The scaling corresponding relationship of the height coordinate of three-dimensional space；
S122: indoor scene is modeled by laser scanning methods, and indoor geographical coordinate is converted to three-dimensional space and is sat
Mark, formula are as follows:
；
Wherein,For the coordinate in indoor model space,,,It is scaling square of the model conversion to three-dimensional space respectively
Battle array, spin matrix and translation matrix；
S123: pass through displacement, rotation angle computation model-viewing matrix, formula is as follows:
；
Wherein,The respectively inverse matrix of scaled matrix, spin matrix, translation matrix；
S124: pass through the field angle of video camera, video aspect ratio, focal lengthCalculate projection matrix, formula is as follows:
；
S125: the texture coordinate of piece member is calculated:；
S126: the texture color of piece member is calculated:；
Wherein, T is video image,For texture sampling function；
S127: after the texture color and texture coordinate that calculate slice member, video image is plotted to the threedimensional model of inspection scene
On, to realize merging for video and three-dimensional scenic.
S13: round-the-clock continual panoramic video is carried out to emphasis monitoring area and is monitored；
S14: the actual position of crusing robot is merged with the threedimensional model of substation, establishes the 3 D video mould of substation
Type.
S2: the polling path of crusing robot is set in the three-dimensional model；The following steps are included:
S21: requiring according to patrol task, and operator sets polling path in the three-dimensional model；
S22: it by threedimensional model coordinate and actual geographic left side incidence relation, realizes in threedimensional model auto-associating polling path
Enhancing merge video, by entire inspection scene enhancing fusion video show one by one；
S23: synchronizing the video of any time, and the video of the historical period is corresponded to different grades of region, by correspondence
The display mode in region carries out whole display playback；The grade in region includes: emphasis region of patrolling and examining, special region of patrolling and examining, general
Region of patrolling and examining；
S24: the floor manager for obtaining other related systems dispatches valuable operation data, in a manner of virtual label, floats
On realtime graphic or control platform.Correlation subsystem such as video monitoring system, robot subsystems etc..
S3: as shown in Fig. 2, the crusing robot of substation carries out inspection according to the polling path of setting, and by inspection number
According to being uploaded to Ji Kong main website；The following steps are included:
S31: the Intelligent Mobile Robot Ji Kong main website of Heterogeneous Data Processing is docked with robot substation system, real-time display
The direction of travel of crusing robot, monitoring data；
S32: production management system patrol task information is obtained, inspection content, the time, period, route of crusing robot are formulated
Parameter information issues patrol task；
S33: crusing robot carries out automatic detecting to substation according to the patrol task of formulation；
S34: robot inspection note abnormalities situation when in map pop-up warning message；
S35: operator on duty checks alarm detail by the Intelligent Mobile Robot Ji Kong main website of Heterogeneous Data Processing, or passes through
Manual operation mode is remotely controlled inspection machine user tripod head, checks alarm real-time scene；
S36: instrumented data, the image data acquired in conjunction with crusing robot, camera carries out preliminary equipment state analysis,
And automatically generate inspection report.
S4: Ji Kong main website stores inspection data, and is analyzed and processed to inspection data；The following steps are included:
S41: manual inspection data, robot inspection data, video routing inspection data are automatically stored；
(1) data are analyzed: according to inspection work requirements, appropriate statistical analysis technique and tool are selected, at inspection data
Reason and analysis, extract valuable information, play the effect of data；
(2) it data mining: from magnanimity inspection data, by the methods of artificial intelligence, machine learning, excavates unknown and by being worth
Information nuclear know-how, improve routing inspection efficiency；
S42: above-mentioned data are analyzed using big data technology, are excavated；
S43: automatically generating inspection analysis report, specific as follows:
S431: timing generates the system status report of a one week statistics, including robot body state, communication system shape daily
State, charging station state, server system state, SMS function state etc.；
S432: patrolling task report entirely, after robot execution patrols task completely, generates a full task report, report output is pressed
Device category is sorted out；
S433: exception information report after robot has executed autotask, generates exception information report, shows in report different
Normal message details；
S434: the report of designated equipment type after robot completion task, can generate selected device class report.
The present invention is not limited to above-described specific embodiment, and the foregoing is merely preferable case study on implementation of the invention
, it is not intended to limit the invention, any modification done within the spirit and principles of the present invention and changes equivalent replacement
Into etc., it should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of intelligent polling method of substation, it is characterised in that: the following steps are included:
S1: establishing the threedimensional model of substation, carries out 3 D video fusion display to substation；
S2: the polling path of crusing robot is set in the three-dimensional model；
S3: the crusing robot of substation carries out inspection according to the polling path of setting, and inspection data are uploaded to collection control master
It stands；
S4: Ji Kong main website stores inspection data, and is analyzed and processed to inspection data.
2. a kind of intelligent polling method of substation according to claim 1, it is characterised in that: the step S1 include with
Lower step:
S11: three-dimensional authentic building is carried out to inspection scene；
S12: spliced using the video data that video fusion technology will be distributed over the monitor camera in key monitoring region, matched
Quasi-, correction and fusion treatment；
S13: round-the-clock continual panoramic video is carried out to emphasis monitoring area and is monitored；
S14: the actual position of crusing robot is merged with the threedimensional model of substation, establishes the 3 D video mould of substation
Type.
3. a kind of intelligent polling method of substation according to claim 2, it is characterised in that: the step S12 includes
Following steps:
S121: outdoor scene and three-dimensional scenic carry out corresponding by taking photo by plane, and the geographical coordinate of outdoor scene are converted to three-dimensional
Space coordinate, formula are as follows:
；
Wherein,For the three dimensional space coordinate after conversion；,,It is the longitude, latitude and height above sea level of camera position respectively；,It is the longitude and latitude in the landform upper left corner respectively；It is the geographical coordinate in the landform upper left corner；,It is to take photo by plane ground respectively
Width, the height of figure；For map of taking photo by plane the high zoom factor of width,For map of taking photo by plane high zoom factor,For height above sea level and three-dimensional
The scaling corresponding relationship of the height coordinate in space；
S122: indoor scene is modeled by laser scanning methods, and indoor geographical coordinate is converted to three-dimensional space and is sat
Mark, formula are as follows:
；
Wherein,For the coordinate in indoor model space,,,It is scaling square of the model conversion to three-dimensional space respectively
Battle array, spin matrix and translation matrix；
S123: pass through displacement, rotation angle computation model-viewing matrix, formula is as follows:
；
Wherein,The respectively inverse matrix of scaled matrix, spin matrix, translation matrix；
S124: pass through the field angle of video camera, video aspect ratio, focal lengthCalculate projection matrix, formula is as follows:
；
S125: the texture coordinate of piece member is calculated:；
S126: the texture color of piece member is calculated:；
Wherein, T is video image,For texture sampling function；
S127: after the texture color and texture coordinate that calculate slice member, video image is plotted to the threedimensional model of inspection scene
On, to realize merging for video and three-dimensional scenic.
4. a kind of intelligent polling method of substation according to claim 1, it is characterised in that: the step S2 include with
Lower step:
S21: requiring according to patrol task, and operator sets polling path in the three-dimensional model；
S22: it by threedimensional model coordinate and actual geographic left side incidence relation, realizes in threedimensional model auto-associating polling path
Enhancing merge video, by entire inspection scene enhancing fusion video show one by one；
S23: synchronizing the video of any time, and the video of the historical period is corresponded to different grades of region, by correspondence
The display mode in region carries out whole display playback；
S24: the floor manager for obtaining other related systems dispatches valuable operation data, in a manner of virtual label, floats
On realtime graphic or control platform.
5. a kind of intelligent polling method of substation according to claim 1, it is characterised in that: the step S3 include with
Lower step:
S31: the Intelligent Mobile Robot Ji Kong main website of Heterogeneous Data Processing is docked with robot substation system, real-time display
The direction of travel of crusing robot, monitoring data；
S32: production management system patrol task information is obtained, inspection content, the time, period, route of crusing robot are formulated
Parameter information issues patrol task；
S33: crusing robot carries out automatic detecting to substation according to the patrol task of formulation；
S34: robot inspection note abnormalities situation when in map pop-up warning message；
S35: operator on duty checks alarm detail by the Intelligent Mobile Robot Ji Kong main website of Heterogeneous Data Processing, or passes through
Manual operation mode is remotely controlled inspection machine user tripod head, checks alarm real-time scene；
S36: instrumented data, the image data acquired in conjunction with crusing robot, camera carries out preliminary equipment state analysis,
And automatically generate inspection report.
6. a kind of intelligent polling method of substation according to claim 1, it is characterised in that: the step S4 include with
Lower step:
S41: manual inspection data, robot inspection data, video routing inspection data are automatically stored；
S42: above-mentioned data are analyzed using big data technology, are excavated；
S43: inspection analysis report is automatically generated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910771766.2A CN110533771A (en) | 2019-08-21 | 2019-08-21 | A kind of intelligent polling method of substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910771766.2A CN110533771A (en) | 2019-08-21 | 2019-08-21 | A kind of intelligent polling method of substation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110533771A true CN110533771A (en) | 2019-12-03 |
Family
ID=68662312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910771766.2A Pending CN110533771A (en) | 2019-08-21 | 2019-08-21 | A kind of intelligent polling method of substation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110533771A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060286A (en) * | 2019-12-25 | 2020-04-24 | 湖南大学 | LED traffic lamp quality inspection method and system based on mobile robot |
| CN111611855A (en) * | 2020-04-17 | 2020-09-01 | 广东电网有限责任公司 | Three-dimensional visual robot intelligence system of patrolling and examining of transformer substation |
| CN111798572A (en) * | 2020-06-12 | 2020-10-20 | 广东电网有限责任公司揭阳供电局 | Machine room virtual inspection method and system |
| CN112085110A (en) * | 2020-09-14 | 2020-12-15 | 国网安徽省电力有限公司检修分公司 | Synthesis method, system and storage medium for transformer substation meter image data set |
| CN112152129A (en) * | 2020-09-25 | 2020-12-29 | 国网浙江省电力有限公司湖州供电公司 | Intelligent safety management and control method and system for transformer substation |
| CN112288902A (en) * | 2020-09-16 | 2021-01-29 | 华电电力科学研究院有限公司 | Automatic inspection device and automatic inspection method for unattended photovoltaic power station |
| CN112311097A (en) * | 2020-11-03 | 2021-02-02 | 国网智能科技股份有限公司 | On-line intelligent patrol centralized monitoring system and method for transformer substation |
| CN113420896A (en) * | 2021-08-23 | 2021-09-21 | 南通高精数科机械有限公司 | Transformer substation inspection auxiliary method and system based on artificial intelligence and big data analysis |
| CN113724402A (en) * | 2021-11-02 | 2021-11-30 | 长沙能川信息科技有限公司 | Three-dimensional scene fusion method for transformer substation video |
| CN113784086A (en) * | 2021-07-23 | 2021-12-10 | 广东电网有限责任公司广州供电局 | Transformer substation video inspection method, device, equipment and medium applied to gateway |
| CN114115277A (en) * | 2021-11-26 | 2022-03-01 | 中国建设银行股份有限公司 | Inspection robot-based inspection management method and related equipment |
| CN114615344A (en) * | 2022-02-08 | 2022-06-10 | 广东智有盈能源技术有限公司 | Intelligent protocol conversion method and device for electric power instrument |
| CN115091491A (en) * | 2022-08-29 | 2022-09-23 | 广东电网有限责任公司清远供电局 | Power distribution room maintenance inspection robot and control method thereof |
| CN116073520A (en) * | 2023-03-06 | 2023-05-05 | 国网四川省电力公司电力科学研究院 | Power grid inspection method and device, electronic equipment and storage medium |
| CN117312591A (en) * | 2023-10-17 | 2023-12-29 | 南京海汇装备科技有限公司 | Image data storage management system and method based on virtual reality |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102496160A (en) * | 2011-12-09 | 2012-06-13 | 河海大学常州校区 | Calibrating method for centralized vision system of soccer robot |
| CN204290501U (en) * | 2015-01-09 | 2015-04-22 | 国家电网公司 | Based on transformer station's three-dimensional live cruising inspection system of robot |
| CN106547814A (en) * | 2016-09-23 | 2017-03-29 | 广西电网有限责任公司电力科学研究院 | A kind of power transmission line unmanned machine patrols and examines the structuring automatic archiving method of image |
| CN107169208A (en) * | 2017-05-19 | 2017-09-15 | 河北省电力勘测设计研究院 | Transformer station's O＆M inspection method based on BIM three-dimensional information technologies |
| CN108537913A (en) * | 2018-06-15 | 2018-09-14 | 浙江国自机器人技术有限公司 | A kind of cruising inspection system |
| CN109829022A (en) * | 2019-01-08 | 2019-05-31 | 桂林电子科技大学 | A kind of the Internet map service system and construction method of fusion monitoring video information |
-
2019
- 2019-08-21 CN CN201910771766.2A patent/CN110533771A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102496160A (en) * | 2011-12-09 | 2012-06-13 | 河海大学常州校区 | Calibrating method for centralized vision system of soccer robot |
| CN204290501U (en) * | 2015-01-09 | 2015-04-22 | 国家电网公司 | Based on transformer station's three-dimensional live cruising inspection system of robot |
| CN106547814A (en) * | 2016-09-23 | 2017-03-29 | 广西电网有限责任公司电力科学研究院 | A kind of power transmission line unmanned machine patrols and examines the structuring automatic archiving method of image |
| CN107169208A (en) * | 2017-05-19 | 2017-09-15 | 河北省电力勘测设计研究院 | Transformer station's O＆M inspection method based on BIM three-dimensional information technologies |
| CN108537913A (en) * | 2018-06-15 | 2018-09-14 | 浙江国自机器人技术有限公司 | A kind of cruising inspection system |
| CN109829022A (en) * | 2019-01-08 | 2019-05-31 | 桂林电子科技大学 | A kind of the Internet map service system and construction method of fusion monitoring video information |
Non-Patent Citations (2)
| Title |
|---|
| 聂电开等: "视频拼接在三维空间的融合实现", 《电脑编程技巧与维护》 * |
| 聂电开等: "视频拼接在三维空间的融合实现", 《电脑编程技巧与维护》, 30 June 2017 (2017-06-30), pages 2 - 6 * |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060286A (en) * | 2019-12-25 | 2020-04-24 | 湖南大学 | LED traffic lamp quality inspection method and system based on mobile robot |
| CN111611855A (en) * | 2020-04-17 | 2020-09-01 | 广东电网有限责任公司 | Three-dimensional visual robot intelligence system of patrolling and examining of transformer substation |
| CN111611855B (en) * | 2020-04-17 | 2023-08-04 | 广东电网有限责任公司 | Intelligent inspection system for three-dimensional visual robot of transformer substation |
| CN111798572A (en) * | 2020-06-12 | 2020-10-20 | 广东电网有限责任公司揭阳供电局 | Machine room virtual inspection method and system |
| CN111798572B (en) * | 2020-06-12 | 2022-05-27 | 广东电网有限责任公司揭阳供电局 | Machine room virtual inspection method and system |
| CN112085110A (en) * | 2020-09-14 | 2020-12-15 | 国网安徽省电力有限公司检修分公司 | Synthesis method, system and storage medium for transformer substation meter image data set |
| CN112288902A (en) * | 2020-09-16 | 2021-01-29 | 华电电力科学研究院有限公司 | Automatic inspection device and automatic inspection method for unattended photovoltaic power station |
| CN112152129A (en) * | 2020-09-25 | 2020-12-29 | 国网浙江省电力有限公司湖州供电公司 | Intelligent safety management and control method and system for transformer substation |
| CN112152129B (en) * | 2020-09-25 | 2022-08-12 | 国网浙江省电力有限公司湖州供电公司 | Intelligent safety management and control method and system for transformer substation |
| CN112311097A (en) * | 2020-11-03 | 2021-02-02 | 国网智能科技股份有限公司 | On-line intelligent patrol centralized monitoring system and method for transformer substation |
| CN112311097B (en) * | 2020-11-03 | 2024-01-26 | 国网智能科技股份有限公司 | Online intelligent patrol centralized monitoring system and method for transformer substation |
| CN113784086A (en) * | 2021-07-23 | 2021-12-10 | 广东电网有限责任公司广州供电局 | Transformer substation video inspection method, device, equipment and medium applied to gateway |
| CN113420896B (en) * | 2021-08-23 | 2021-11-16 | 南通高精数科机械有限公司 | Transformer substation inspection auxiliary method and system based on artificial intelligence and big data analysis |
| CN113420896A (en) * | 2021-08-23 | 2021-09-21 | 南通高精数科机械有限公司 | Transformer substation inspection auxiliary method and system based on artificial intelligence and big data analysis |
| CN113724402A (en) * | 2021-11-02 | 2021-11-30 | 长沙能川信息科技有限公司 | Three-dimensional scene fusion method for transformer substation video |
| CN113724402B (en) * | 2021-11-02 | 2022-02-15 | 长沙能川信息科技有限公司 | Three-dimensional scene fusion method for transformer substation video |
| CN114115277A (en) * | 2021-11-26 | 2022-03-01 | 中国建设银行股份有限公司 | Inspection robot-based inspection management method and related equipment |
| CN114615344B (en) * | 2022-02-08 | 2023-07-28 | 广东智有盈能源技术有限公司 | Intelligent protocol conversion method and device for electric power instrument |
| CN114615344A (en) * | 2022-02-08 | 2022-06-10 | 广东智有盈能源技术有限公司 | Intelligent protocol conversion method and device for electric power instrument |
| CN115091491A (en) * | 2022-08-29 | 2022-09-23 | 广东电网有限责任公司清远供电局 | Power distribution room maintenance inspection robot and control method thereof |
| CN116073520A (en) * | 2023-03-06 | 2023-05-05 | 国网四川省电力公司电力科学研究院 | Power grid inspection method and device, electronic equipment and storage medium |
| CN116073520B (en) * | 2023-03-06 | 2024-01-26 | 国网四川省电力公司电力科学研究院 | Power grid inspection method and device, electronic equipment and storage medium |
| CN117312591A (en) * | 2023-10-17 | 2023-12-29 | 南京海汇装备科技有限公司 | Image data storage management system and method based on virtual reality |
| CN117312591B (en) * | 2023-10-17 | 2024-03-12 | 南京海汇装备科技有限公司 | Image data storage management system and method based on virtual reality |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110533771A (en) | A kind of intelligent polling method of substation | |
| CN110047150B (en) | Complex equipment operation on-site simulation system based on augmented reality | |
| CN108508831A (en) | A kind of intelligent managing and control system of underground pipe gallery | |
| CN103778566A (en) | Heat-engine plant monitoring and measuring method based on three-dimensional visualization demonstration | |
| CN110400387A (en) | A kind of joint method for inspecting, system and storage medium based on substation | |
| CN108764668A (en) | A kind of facilities management system and method based on BIM technology | |
| CN106710001A (en) | Substation inspection robot based centralized monitoring and simulation system and method thereof | |
| CN107292989A (en) | High voltage power transmission cruising inspection system based on 3DGIS technologies | |
| JP2020520012A (en) | Intelligent, automated review of industrial asset integrity data | |
| CN110363878A (en) | A kind of computer room method for inspecting based on image processing techniques | |
| CN109471142A (en) | A kind of working trajectory recognition methods based on RTK Differential positioning | |
| CN103499341B (en) | A kind of using method of electric pole inclination measurement instrument | |
| CN104410839A (en) | Mobile online monitoring system for mountain fire and landslide hazards in power transmission line pole and tower region and monitoring method | |
| CN116415776B (en) | Sewage treatment monitoring operation management system and method based on digital twin technology | |
| CN108491649A (en) | A kind of design method and processing equipment of wind power plant digital Platform | |
| CN109446290A (en) | A kind of intelligent three-dimensional virtual visualization meteorological equipment comprehensive coverage method | |
| CN111369220A (en) | Teacher's cloud platform is built to wisdom | |
| CN106451764A (en) | Transformer station monitoring method | |
| CN110782138A (en) | Engineering quality general illness treatment platform based on mobile internet AR technology | |
| CN110209196A (en) | A kind of unmanned plane garden night watching method and system | |
| CN207155816U (en) | A kind of robot inspection system based on intelligent power generation station | |
| CN201828915U (en) | Spatial information monitoring system | |
| CN115585731A (en) | Space-air-ground integrated hydropower station space state intelligent monitoring management system and method thereof | |
| CN105956045A (en) | Smart surveying and mapping polling and monitoring platform of Beidou positioning and navigation city pipe network | |
| CN108564492A (en) | The method that it is based on GIS dilapidated house dynamic monitoring management platform and builds the platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191203 |