CN110570520A - substation maintenance safety distance monitoring method based on SLAM - Google Patents
substation maintenance safety distance monitoring method based on SLAM Download PDFInfo
- Publication number
- CN110570520A CN110570520A CN201910543162.2A CN201910543162A CN110570520A CN 110570520 A CN110570520 A CN 110570520A CN 201910543162 A CN201910543162 A CN 201910543162A CN 110570520 A CN110570520 A CN 110570520A
- Authority
- CN
- China
- Prior art keywords
- dimensional
- slam
- image processing
- time
- processing computer
- 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
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012423 maintenance Methods 0.000 title claims abstract description 23
- 238000012544 monitoring process Methods 0.000 title claims description 18
- 238000012545 processing Methods 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 206010014357 Electric shock Diseases 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012806 monitoring device Methods 0.000 abstract 1
- 238000007689 inspection Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
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
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/06—Energy 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
- G06T17/10—Constructive solid geometry [CSG] using solid primitives, e.g. cylinders, cubes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/97—Determining parameters from multiple pictures
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Business, Economics & Management (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Health & Medical Sciences (AREA)
- Geometry (AREA)
- Economics (AREA)
- Water Supply & Treatment (AREA)
- Computer Graphics (AREA)
- Quality & Reliability (AREA)
- Public Health (AREA)
- Software Systems (AREA)
- General Health & Medical Sciences (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Primary Health Care (AREA)
- Strategic Management (AREA)
- Tourism & Hospitality (AREA)
- General Business, Economics & Management (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
A substation maintenance safety distance monitoring device and method based on SLAM utilizes three or more groups of cameras integrated with POS modules arranged on site to acquire images in real time, the cameras are connected with an image processing computer of a workstation through wireless transmission equipment, spatial position information of maintenance equipment is monitored in real time through three-dimensional reconstruction in the image processing computer, and distance analysis is carried out on the equipment and a preset safety operation area. The invention can optimize the operation method according to the actual situation, ensure the safe operation and improve the intelligent maintenance operation level.
Description
Technical Field
The invention belongs to the field of maintenance safety control of power equipment, and particularly relates to a substation maintenance safety distance monitoring method based on SLAM.
Background
The inspection of equipment is an important component of the daily operation and maintenance work of the transformer substation, in the inspection process of the transformer substation, the safety distance between inspection personnel and operation instruments (such as a lifting platform, a crane and the like) is in danger of exceeding the limit, particularly the safety distance between the inspection personnel and peripheral electrified equipment is in high-altitude rotation operation of mechanical arms such as the crane and the like, other monitoring means have blind areas, and the electric shock risk is high; the field needs to monitor and analyze the moving space of such large-scale equipment and workers for maintenance work. However, under the current conditions, when the transformer substation operation and inspection personnel operate on site, safety management and control are performed in the mode that safety rods are arranged on the ground of an equipment area, the height of each safety rod is limited, the safety warning effect on suspended mechanical equipment is not obvious, ground monitoring personnel are required to assist visual inspection to judge the safety state and remind mechanical operators, the transformer substation has multiple equipment types, the environment is complex, the electrified state of the equipment is difficult to distinguish, and great equipment and personnel operation safety risks exist.
disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a substation maintenance safety distance monitoring method based on SLAM, which can optimize an operation method according to actual conditions, ensure safety operation and improve the intelligent maintenance operation level.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
A transformer substation maintenance safety distance monitoring method based on SLAM comprises the following steps:
Based on the SLAM technical principle, an SLAM distance detection system is arranged in a maintenance operation area in a transformer substation, and the system comprises a plurality of cameras integrating POS modules, data transmission equipment and an image processing computer;
simultaneously acquiring real-time images of the overhaul instruments by a plurality of cameras integrated with the POS modules, and transmitting the images to an image processing computer through data transmission equipment;
Thirdly, the image processing computer correspondingly arranges the photo shooting time and POS data according to the camera number and the preset POS (IMU + DGPS) data, namely, the photo numbers shot in the same time are required to be consistent, namely, the time is taken as a standard, the scene three-dimension at the same moment is reconstructed in the image processing computer, the real-time three-dimensional space coordinate value of the overhaul apparatus and the power equipment is calculated, and the simulated overhaul apparatus space coordinate value is constructed in real time;
Generating a three-dimensional safety electronic fence according to the voltage grade of the power equipment and the electrified or power-off state by combining the scene three-dimensional reconstructed on site, and importing the real-time three-dimensional space coordinate value of the maintenance instrument into an image processing computer;
and fifthly, carrying out space buffering on the real-time three-dimensional space coordinate of the overhaul device, constructing a safe operation space, carrying out space analysis on the safe operation space and the three-dimensional safety electronic fence, indicating a safe state if the three-dimensional geometrical body of the safe operation space is inside the three-dimensional safety electronic fence, and indicating that the electric shock risk exists if the three-dimensional geometrical body of the safe operation space and the three-dimensional safety electronic fence intersect and exceed a safe limit.
the concrete method of the second step is as follows: at least three groups of cameras integrating the POS modules are arranged at the good point of the visibility condition in the operation area, and the real-time images of the operation equipment are simultaneously acquired at the frequency of not less than once per second and transmitted to an image processing computer.
The data transmission device adopts a wireless transmitter.
The cameras of the integrated POS module are divided into three groups and are arranged in a regular triangle.
The invention has the advantages and positive effects that:
1. According to the invention, the POS camera and the image processing and calculating mechanism are arranged on site to form a monitoring system, images are acquired on site in real time, three-dimensional coordinates are automatically and rapidly calculated, a large amount of equipment three-dimensional modeling work is avoided, and the method is convenient and rapid and is easy to popularize.
2. after the SLAM distance monitoring system is arranged on site, instrument operation and personnel operation do not need to carry any monitoring equipment or terminal, and the original working mode is basically not influenced.
3. The method for measuring and calculating the safe distance of the field personnel and the equipment belongs to the field of visibility, and can calculate the three-dimensional coordinate within the shooting range of the POS camera, so that a high-precision positioning terminal is not required to be additionally arranged on the personnel or the equipment to be monitored, the load of the operating personnel is simplified, and the monitoring cost is reduced.
4. the invention helps the transformer substation operation and inspection personnel to accurately acquire the three-dimensional safety distance in the field work in real time, reduces the defects of manual supervision and the working pressure, and effectively ensures the field safety operation.
5. the image processing computer prefabricating scene model produces the safe electronic fence according to the safe distance standard requirement, carries out scene matching on the model position calculated in real time, reduces the calculated amount and the delay rate, and ensures the on-site early warning in time.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Detailed Description
First, it should be noted that the specific structures, features, advantages, etc. of the present invention will be specifically described below by way of example, but all the descriptions are for illustrative purposes only and should not be construed as limiting the present invention in any way. Furthermore, any individual technical features described or implicit in the embodiments mentioned herein may still be continued in any combination or subtraction between these technical features (or their equivalents) to obtain still further embodiments of the invention that may not be mentioned directly herein.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and furthermore, the terms "comprises" and "having", and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The present invention will be specifically described with reference to fig. 1.
A transformer substation maintenance safety distance monitoring method based on SLAM comprises the following steps:
1. Based on the SLAM technical principle, an SLAM distance detection system is arranged in a maintenance operation area in a transformer substation, and the system comprises three cameras integrated with POS modules, data transmission equipment (wireless transmitters) and an image processing computer (notebook);
the cameras of the three integrated POS modules are arranged at positions with relatively transparent and wide vision fields according to the requirements of field monitoring, and the included angles of connecting lines of two adjacent cameras are not suitable to be too large, so that a regular triangle is formed optimally.
2. the cameras of the three integrated POS modules simultaneously acquire real-time images of an edge moving point P1 of the overhaul device, two end points P2 of a hoisted object and a real-time image P3 of the overhaul device, and transmit the images to an image processing computer through data transmission equipment;
The cameras of the three integrated POS modules shoot and collect field photos through multiple angles, record POS information of each photo, and construct three-dimensional space information by utilizing overlapped images of the same equipment or area in the multiple-angle photos.
3. the image processing computer correspondingly arranges the photo shooting time and POS data according to the camera number and the preset POS (IMU + DGPS) data, namely, the photo numbers shot in the same time are required to be consistent, namely, the time is taken as a standard, the photo shooting time and the POS data are correspondingly arranged, scene three-dimension at the same moment is reconstructed in the image processing computer, the real-time three-dimensional space coordinate value of the overhaul apparatus and the power equipment is calculated, and the simulated overhaul apparatus space coordinate value is constructed in real time; and (3) detecting the change condition of the equipment position by comparing the previous data and the fixed point coordinates along with the movement of the equipment position along with the change of time.
4. In an image processing workstation, generating a three-dimensional safety electronic fence according to the voltage grade of the power equipment and the charged or power-off state in combination with the scene three-dimensional reconstructed on site, and introducing a real-time three-dimensional space coordinate value of the maintenance instrument into an image processing computer as a basis for monitoring the safety distance;
5. The real-time three-dimensional space coordinate of the overhaul apparatus is subjected to space buffering, a safe operation space is constructed, space safety distance analysis is carried out on the space and the three-dimensional safety electronic fence, if the three-dimensional geometric solid of the safe operation space is inside the three-dimensional safety electronic fence, the space is in a safe state, if the three-dimensional geometric solid of the safe operation space and the three-dimensional safety electronic fence generate intersection, electric shock risks exist when the display exceeds a safe limit, and warning information is sent.
6. The field maintainer adjusts the operation mode of the maintenance apparatus according to the warning information, and avoids electric shock events.
The system utilizes three or more groups of cameras integrated with POS modules to acquire images in real time, is connected with an image processing computer of a workstation through wireless transmission equipment, carries out three-dimensional reconstruction in the image processing computer to monitor the spatial position information of the maintenance equipment in real time, carries out distance analysis with a preset safe operation area, can optimize an operation method according to actual conditions, guarantees safe operation and improves the intelligent maintenance operation level.
The present invention has been described in detail with reference to the above examples, but the description is only for the preferred examples of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (4)
1. A transformer substation maintenance safety distance monitoring method based on SLAM is characterized in that: the method comprises the following steps:
Based on the SLAM technical principle, an SLAM distance detection system is arranged in a maintenance operation area in a transformer substation, and the system comprises a plurality of cameras integrating POS modules, data transmission equipment and an image processing computer;
Simultaneously acquiring real-time images of the overhaul instruments by a plurality of cameras integrated with the POS modules, and transmitting the images to an image processing computer through data transmission equipment;
Thirdly, the image processing computer correspondingly arranges the photo shooting time and POS data according to the camera number and the preset POS (IMU + DGPS) data, namely, the photo numbers shot in the same time are required to be consistent, namely, the time is taken as a standard, the scene three-dimension at the same moment is reconstructed in the image processing computer, the real-time three-dimensional space coordinate value of the overhaul apparatus and the power equipment is calculated, and the simulated overhaul apparatus space coordinate value is constructed in real time;
generating a three-dimensional safety electronic fence according to the voltage grade of the power equipment and the electrified or power-off state by combining the scene three-dimensional reconstructed on site, and importing the real-time three-dimensional space coordinate value of the maintenance instrument into an image processing computer;
And fifthly, carrying out space buffering on the real-time three-dimensional space coordinate of the overhaul device, constructing a safe operation space, carrying out space analysis on the safe operation space and the three-dimensional safety electronic fence, indicating a safe state if the three-dimensional geometrical body of the safe operation space is inside the three-dimensional safety electronic fence, and indicating that the electric shock risk exists if the three-dimensional geometrical body of the safe operation space and the three-dimensional safety electronic fence intersect and exceed a safe limit.
2. The SLAM-based substation overhaul safety distance monitoring method according to claim 1, characterized in that: the concrete method of the second step is: at least three groups of cameras integrating the POS modules are arranged at the good point of the visibility condition in the operation area, and the real-time images of the operation equipment are simultaneously acquired at the frequency of not less than once per second and transmitted to an image processing computer.
3. The SLAM-based substation overhaul safety distance monitoring method according to claim 1, characterized in that: the data transmission device adopts a wireless transmitter.
4. The SLAM-based substation overhaul safety distance monitoring method according to claim 1, characterized in that: the cameras of the integrated POS module are divided into three groups and are arranged in a regular triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543162.2A CN110570520A (en) | 2019-06-21 | 2019-06-21 | substation maintenance safety distance monitoring method based on SLAM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910543162.2A CN110570520A (en) | 2019-06-21 | 2019-06-21 | substation maintenance safety distance monitoring method based on SLAM |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110570520A true CN110570520A (en) | 2019-12-13 |
Family
ID=68772925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910543162.2A Pending CN110570520A (en) | 2019-06-21 | 2019-06-21 | substation maintenance safety distance monitoring method based on SLAM |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110570520A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110608716A (en) * | 2019-06-25 | 2019-12-24 | 国网河北省电力有限公司邢台供电分公司 | Substation maintenance safety distance monitoring method based on SLAM |
| CN111369762A (en) * | 2020-03-17 | 2020-07-03 | 广东电网有限责任公司培训与评价中心 | Alarm method, device and storage medium based on transformer substation |
| CN112950755A (en) * | 2021-03-23 | 2021-06-11 | 广东电网有限责任公司 | Security fence arrangement method and device |
| CN113253665A (en) * | 2021-05-19 | 2021-08-13 | 广东电网有限责任公司 | Three-dimensional exhibition of transformer substation's operation risk and management and control platform |
| CN115218876A (en) * | 2022-07-19 | 2022-10-21 | 中国南方电网有限责任公司超高压输电公司昆明局 | Safe distance discrimination method, apparatus, computer device, medium, and program product |
-
2019
- 2019-06-21 CN CN201910543162.2A patent/CN110570520A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110608716A (en) * | 2019-06-25 | 2019-12-24 | 国网河北省电力有限公司邢台供电分公司 | Substation maintenance safety distance monitoring method based on SLAM |
| CN111369762A (en) * | 2020-03-17 | 2020-07-03 | 广东电网有限责任公司培训与评价中心 | Alarm method, device and storage medium based on transformer substation |
| CN112950755A (en) * | 2021-03-23 | 2021-06-11 | 广东电网有限责任公司 | Security fence arrangement method and device |
| CN113253665A (en) * | 2021-05-19 | 2021-08-13 | 广东电网有限责任公司 | Three-dimensional exhibition of transformer substation's operation risk and management and control platform |
| CN115218876A (en) * | 2022-07-19 | 2022-10-21 | 中国南方电网有限责任公司超高压输电公司昆明局 | Safe distance discrimination method, apparatus, computer device, medium, and program product |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110570520A (en) | substation maintenance safety distance monitoring method based on SLAM | |
| CN110608716A (en) | Substation maintenance safety distance monitoring method based on SLAM | |
| CN111091609B (en) | Transformer substation field operation management and control system and method based on three-dimensional dynamic modeling | |
| CN106593534B (en) | A kind of intelligent tunnel construction safety monitoring system | |
| CN109240311B (en) | Outdoor electric power field construction operation supervision method based on intelligent robot | |
| CN107392247B (en) | Real-time detection method for ground object safety distance below power line | |
| CN101339141B (en) | Wheel cable mobile structure video frequency monitoring system | |
| CN110255380B (en) | Crane operation method and device | |
| CN104713491B (en) | The method that the slope monitoring system of slope deforming three-dimensional data can be obtained and its obtain slope deforming three-dimensional data | |
| CN103728917B (en) | The collision-proof method of digital control processing and measurement device | |
| CN103481285A (en) | High-voltage electric operating robot control system and method based on virtual reality technology | |
| CN106097648A (en) | Transformer station's fortune inspection working space three-dimensional security monitoring method | |
| CN108491758A (en) | A kind of track detection method and robot | |
| CN102176161A (en) | Flight simulation system facing to power line polling | |
| CN109736894A (en) | A kind of monitoring system, monitoring method and method for early warning for coal mine roadway country rock disaster | |
| CN106597213A (en) | Distributed power transmission and distribution line maintenance operation safety protection digital monitoring system | |
| CN110031828A (en) | A kind of unmanned plane range-measurement system and method based on transmission line of electricity magnetic distribution | |
| CN110885019A (en) | Tower crane monitoring and real-time alarm system based on BIM model | |
| CN113988518A (en) | Distribution network equipment health diagnosis method for multi-source information fusion analysis | |
| CN110702016A (en) | Power transmission line icing measurement system and method | |
| CN207295453U (en) | A kind of bridge quick visualization detection device and its system | |
| CN106873625A (en) | Detection System for Bridge | |
| CN104714068B (en) | Robot to outdoor electric energy meter meter reading | |
| CN115367644A (en) | Crane monitoring method and system based on simulation | |
| CN115935637A (en) | GIS digital twin-based transformer substation visual operation and maintenance system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20191213 |