CN114094710A - One-key sequential control operation system and method for transformer substation - Google Patents
One-key sequential control operation system and method for transformer substation Download PDFInfo
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- CN114094710A CN114094710A CN202111416611.0A CN202111416611A CN114094710A CN 114094710 A CN114094710 A CN 114094710A CN 202111416611 A CN202111416611 A CN 202111416611A CN 114094710 A CN114094710 A CN 114094710A
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- 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
- H02J13/00001—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 characterised by the display of information or by user interaction, e.g. supervisory control and data acquisition systems [SCADA] or graphical user interfaces [GUI]
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- 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
- H02J13/00002—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 characterised by monitoring
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- 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
- H02J13/00006—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 characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
- H02J13/00028—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 characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment involving the use of Internet protocols
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- 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
- H02J13/00032—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for
- H02J13/00034—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for the elements or equipment being or involving an electric power substation
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- 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
- H02J13/00032—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for
- H02J13/00036—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for the elements or equipment being or involving switches, relays or circuit breakers
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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
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- 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
- Y04S10/40—Display of information, e.g. of data or controls
Abstract
The invention discloses a system and a method for one-key sequential control operation of a transformer substation, which comprise a transformer substation main and auxiliary equipment monitoring system and a patrol system which are communicated with each other; wherein, the tour system includes: the video linkage module is configured to receive a remote control signal of the main and auxiliary equipment monitoring system and control the monitoring module to display video information of the current operating equipment; the intelligent analysis module is configured to receive remote signaling signals of the main and auxiliary equipment monitoring systems, control the monitoring module to acquire equipment images, analyze equipment displacement results and transmit the displacement results to the main and auxiliary equipment monitoring systems; and the monitoring module is configured to receive control instructions of the video linkage module and the intelligent analysis module, acquire video information and image information of the equipment and acquire a displacement result of the equipment.
Description
Technical Field
The invention relates to the technical field of operation of power systems, in particular to a one-key sequential control operation system and a one-key sequential control operation method for a transformer substation.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In recent years, with the rapid development of power grids, the scale of power transformation equipment is increased explosively. Under the new situation that the requirements of the safe operation level and the service quality of a power grid are continuously improved, a one-key sequence control technology is developed, the switching operation of a transformer substation is changed from manual item-by-item operation to computer remote automatic operation, the comprehensive improvement of the operation efficiency is facilitated, the operation risk is reduced, and the emergency handling capacity is improved.
Although the one-key sequential control has great advantages compared with the traditional manual operation mode, the method still has some defects; such as: when the one-key sequential control operation is executed, a worker generally only needs to be in a main control room, so that the field equipment cannot be seen, and the state of the equipment is mostly known by data collected by devices such as a sensor. Once the acquired data is unreliable, a sequential control operation error is further caused, a great safety risk is brought, and even a certain economic loss is caused. In addition, the equipment displacement result rechecking after the switching operation is finished is usually carried out in a manual rechecking mode, time and labor are wasted, automatic rechecking can be realized through the current one-key sequential control, but the rechecking accuracy is difficult to directly judge, and the effect that the rechecking is visible and can be achieved is not achieved.
Disclosure of Invention
In order to solve the problems, the invention provides a one-key sequential control operating system and a one-key sequential control operating method for a transformer substation, which can realize real-time visualization of equipment states, automatically complete a series of equipment remote control operations by adopting an operation task mode, and simultaneously can automatically check whether the operation is in place or not, thereby realizing full automation of switching operation.
In some embodiments, the following technical scheme is adopted:
a kind of transformer substation key order controls the operating system, including mutual communicating main and auxiliary apparatus monitoring system and inspection system of transformer substation; wherein, the tour system includes:
the video linkage module is configured to receive a remote control signal of the main and auxiliary equipment monitoring system and control the monitoring module to display video information of the current operating equipment;
the intelligent analysis module is configured to receive remote signaling signals of the main and auxiliary equipment monitoring systems, control the monitoring module to acquire equipment images, analyze equipment displacement results and transmit the displacement results to the main and auxiliary equipment monitoring systems;
and the monitoring module is configured to receive control instructions of the video linkage module and the intelligent analysis module, acquire video information and image information of the equipment and acquire a displacement result of the equipment.
Further, still include: and the safety isolation device is configured to realize single-phase data transmission between the main and auxiliary equipment monitoring system and the patrol system.
Further, the main and auxiliary equipment monitoring system and the patrol system are connected through a UDP protocol.
Further, the substation main and auxiliary equipment monitoring system receives the equipment displacement result sent by the patrol system, compares the equipment displacement result with the equipment displacement result obtained in other ways, and judges whether the equipment displacement results of the substation main and auxiliary equipment monitoring system and the equipment displacement result are consistent.
In other embodiments, the following technical solutions are adopted:
a one-key sequential control operation method for a transformer substation comprises the following steps:
acquiring a device resource information configuration file;
performing association configuration on the monitoring index numbers in the main and auxiliary equipment monitoring system and equipment point positions in the inspection system at the inspection system side;
acquiring a one-key sequential control operation task compiled by a main and auxiliary equipment monitoring system;
receiving a remote control signal sent by a main and auxiliary equipment monitoring system, analyzing equipment to which the signal belongs and matching point locations of inspection equipment, calling a related camera to rotate to a corresponding preset position, and displaying a plurality of paths of real-time videos related to the equipment;
and receiving remote signaling signals sent by the main and auxiliary equipment monitoring systems, analyzing equipment to which the signals belong, matching point positions of the inspection equipment, acquiring equipment images, analyzing equipment displacement results and transmitting the results back to the main and auxiliary equipment monitoring systems.
Further, the remote control signal and the remote signaling signal include: signal type and equipment number or monitoring index number;
the remote signaling signal includes: signal type and device number or monitoring index number.
Further, after receiving the equipment displacement result, the main and auxiliary equipment monitoring system compares the equipment displacement result with the equipment displacement result obtained through other ways, and judges whether the equipment displacement results of the main and auxiliary equipment monitoring systems are consistent; and if the operation task is consistent with the operation task, sending a remote control signal of the next device to the patrol system until switching operation of all devices in the operation task is completed.
Further, the main and auxiliary equipment monitoring system displays the equipment displacement result in real time; meanwhile, real-time video display is carried out on the equipment in the one-key sequential control process.
Further, an equipment resource information configuration file is obtained, wherein the configuration file specifically comprises the name and the monitoring index number of the power transformation equipment.
Further, the displacement result of the analysis device is specifically as follows: and analyzing the acquired equipment image, and determining an equipment displacement result by using an image recognition algorithm.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention creatively adopts the video linkage technology, realizes the real-time visualization of the equipment state of one-key sequential control operation, expands the mode of equipment state confirmation and improves the reliability; one-key sequential control and equipment state visualization are tightly combined, and remote scheduling is possible.
(2) The invention creatively adopts an image intelligent analysis technology, realizes the intelligent identification of the equipment state and achieves the effect that the equipment displacement result is rechecked and visible, namely the equipment state can be obtained.
(3) The invention creatively adopts an operation task mode to automatically complete a series of equipment remote control operations, and can automatically check whether the operation is in place, thereby realizing the full automation of switching operation.
Additional features and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a structural block diagram of a one-key sequential control operating system of a transformer substation according to an embodiment of the present invention;
FIG. 2 is a block diagram of a patrol system according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for operating a transformer substation in a key sequence control manner according to an embodiment of the present invention;
101, a transformer substation one-key sequence control operation system, 102, a main and auxiliary equipment monitoring system, 103, a patrol system, 104, a safety isolation device, 201, a monitoring module, 202, a video linkage module, 203 and an intelligent analysis module.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
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 it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
The one-key sequential control means that remote control is started by one key according to a set task, and a series of remote disconnecting switch on-off operations are automatically executed through a signal feedback and anti-error mechanism.
In one or more embodiments, a substation one-touch sequential control operating system 101 is disclosed, which, in conjunction with fig. 1, includes a substation primary and secondary equipment monitoring system 102 and a patrol system 103 in communication with each other; a safety isolation device 104 is arranged between the main and auxiliary equipment monitoring system 102 and the patrol system 103;
the main and auxiliary device monitoring system 102 is a third-party system, and is mainly responsible for sending remote control and remote signaling signals to the patrol system and receiving device displacement results.
The safety isolation device 104 is responsible for safety protection of data exchange between the auxiliary control system and the patrol system, and comprises a forward isolation device and a reverse isolation device. The forward isolation device is used for unidirectional data transmission from the auxiliary control system to the patrol system, and the reverse isolation device is used for unidirectional data transmission from the patrol system to the auxiliary control system.
Referring to fig. 2, the patrol system 103 includes: the system comprises a video linkage module 202, an intelligent analysis module 203 and a monitoring module 201; wherein the content of the first and second substances,
the video linkage module 202 is configured to receive a remote control signal of the main and auxiliary equipment monitoring system and control the monitoring module to display video information of the current operating equipment;
the intelligent analysis module 203 is configured to receive remote signaling signals of the main and auxiliary equipment monitoring systems, control the monitoring module to acquire equipment images, obtain an equipment displacement result after the image analysis is performed by the intelligent analysis module, and transmit the displacement result to the main and auxiliary equipment monitoring systems;
and the monitoring module 201 is configured to receive control instructions of the video linkage module and the intelligent analysis module, acquire video information and image information of the equipment, and acquire a displacement result of the equipment.
One-key sequence control requires double confirmation of non-homologous signals for switching operation, and the two signals indicate that a certain knife switch is in a closed state and are only considered to be in the closed state, so that the operation is safer. In this embodiment, a video image recognition mode is adopted as the second criterion, and the first criterion is obtained by the main and auxiliary systems through other approaches, such as: the first criterion adopts position remote signaling, and is generally an auxiliary switch on-off contact.
And the substation main and auxiliary equipment monitoring system receives the equipment displacement result sent by the inspection system, compares the equipment displacement result with the equipment displacement result obtained by other ways, judges whether the equipment displacement results of the main and auxiliary equipment monitoring systems are consistent, if so, indicates that the operation is correct, and sends an operation instruction of the next equipment to the inspection system until the switching operation of all the equipment in the operation task is completed.
Example two
In one or more embodiments, a method of key sequence operation of a substation is disclosed, and with reference to fig. 3, the method includes the following steps:
(1) acquiring a device resource information configuration file;
the auxiliary control system is connected with the patrol system through a UDP protocol, and the auxiliary control system sends the equipment resource information configuration file to the patrol system; the configuration file comprises names and monitoring index numbers of the power transformation equipment.
(2) Performing association configuration on the monitoring index numbers in the main and auxiliary equipment monitoring system and equipment point positions in the inspection system at the inspection system side;
in the patrol system and the main and auxiliary equipment monitoring system, the power transformation equipment is respectively numbered, and the numbers are possibly inconsistent, so that a mapping relation needs to be established in the patrol system, and the two systems can normally process remote control and remote signaling signals.
For example: 110kV # bus knife switch, number 321 (monitoring index) in the auxiliary control system, and number 433 in the patrol system. Therefore, the mapping relationship between 321 and 433 needs to be made in the patrol system, and when the auxiliary control system sends the remote control signal of the device 321, the patrol system can know that the device 433 corresponds to the patrol system in the patrol system.
(3) Acquiring a one-key sequential control operation task compiled by a main and auxiliary equipment monitoring system;
the operation task is generally a list of information of the power transformation equipment to be subjected to the switching operation and the switching operation to be performed, such as: to switch the devices 411, 412, 413, 414 and 415 in sequence, the secondary control system is programmed with the operation tasks of the devices.
(4) Receiving a remote control signal sent by a main and auxiliary equipment monitoring system, analyzing equipment to which the signal belongs and matching point locations of inspection equipment, calling a related camera to rotate to a corresponding preset position, and displaying a plurality of paths of real-time videos related to the equipment;
the remote control signal mainly comprises a signal type (remote control) and an equipment number (monitoring index number);
switching operation is generally performed on three-phase equipment (an A phase, a B phase and a C phase), and the three phases are performed simultaneously during operation, so that four paths of videos are generated, three paths of videos respectively see the three phases, and the other path of videos sees the panorama of the three phases; all four videos are associated with the device, and which device is currently operating will present the video of the camera associated with the device.
(5) Executing equipment displacement operation, and after the equipment displacement is completed, sending a remote signaling signal to the inspection system by the auxiliary control system; the patrol system receives remote signaling signals sent by the main and auxiliary equipment monitoring system, analyzes equipment to which the signals belong, matches the point positions of the patrol equipment, acquires images, analyzes the displacement results of the equipment and displays the displacement results in an interface. Meanwhile, the patrol system automatically stores the images and results and returns the results to the main and auxiliary equipment monitoring systems.
The remote signaling signal comprises a signal type (remote signaling) and an equipment number (monitoring index number);
according to the collected image, an intelligent analysis algorithm is adopted, and whether the knife switch in the image is in an open state or a closed state can be judged.
After the main and auxiliary equipment monitoring system receives the equipment displacement result, rechecking whether the operation is in place: comparing the equipment displacement result with equipment displacement results obtained through other ways, and judging whether the equipment displacement results of the equipment displacement result and the equipment displacement result are consistent; and if the operation task is consistent with the operation task, sending a remote control signal of the next device to the patrol system until switching operation of all devices in the operation task is completed.
The main and auxiliary equipment monitoring system displays the equipment displacement result in real time; meanwhile, real-time video display is carried out on the equipment in the one-key sequential control process.
The video linkage technology and the image intelligent analysis technology are adopted in the embodiment, the images can be displayed simultaneously when the displacement result is provided, the visible and available effect is achieved, and the problems that the equipment cannot be visible in real time and the equipment displacement result is not visually rechecked in the existing one-key sequence control are solved.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A transformer substation one-key sequential control operation system is characterized by comprising a transformer substation main and auxiliary equipment monitoring system and a patrol system which are communicated with each other; wherein, the tour system includes:
the video linkage module is configured to receive a remote control signal of the main and auxiliary equipment monitoring system and control the monitoring module to display video information of the current operating equipment;
the intelligent analysis module is configured to receive remote signaling signals of the main and auxiliary equipment monitoring systems, control the monitoring module to acquire equipment images, analyze equipment displacement results and transmit the displacement results to the main and auxiliary equipment monitoring systems;
and the monitoring module is configured to receive control instructions of the video linkage module and the intelligent analysis module, acquire video information and image information of the equipment and acquire a displacement result of the equipment.
2. The substation one-touch sequential control operating system of claim 1, further comprising: and the safety isolation device is configured to realize single-phase data transmission between the main and auxiliary equipment monitoring system and the patrol system.
3. The substation one-touch sequential control operating system according to claim 1, wherein the main and auxiliary device monitoring system and the patrol system are connected through a UDP protocol.
4. The substation one-key sequence control operating system according to claim 1, wherein the substation main and auxiliary device monitoring system receives the device displacement result sent by the patrol system, compares the device displacement result with device displacement results obtained by other ways, and judges whether the device displacement results of the substation main and auxiliary devices are consistent with the device displacement results obtained by other ways.
5. A one-key sequential control operation method for a transformer substation is characterized by comprising the following steps:
acquiring a device resource information configuration file;
performing association configuration on the monitoring index numbers in the main and auxiliary equipment monitoring system and equipment point positions in the inspection system at the inspection system side;
acquiring a one-key sequential control operation task compiled by a main and auxiliary equipment monitoring system;
receiving a remote control signal sent by a main and auxiliary equipment monitoring system, analyzing equipment to which the signal belongs and matching point locations of inspection equipment, calling a related camera to rotate to a corresponding preset position, and displaying a plurality of paths of real-time videos related to the equipment;
and receiving remote signaling signals sent by the main and auxiliary equipment monitoring systems, analyzing equipment to which the signals belong, matching point positions of the inspection equipment, acquiring equipment images, analyzing equipment displacement results and transmitting the results back to the main and auxiliary equipment monitoring systems.
6. The method of claim 5, wherein the remote control signals and the remote signaling signals comprise: signal type and equipment number or monitoring index number;
the remote signaling signal includes: signal type and device number or monitoring index number.
7. The one-key sequential control operation method of the transformer substation according to claim 5, wherein after receiving the device displacement result, the main and auxiliary device monitoring system compares the device displacement result with device displacement results obtained through other ways to determine whether the device displacement results of the main and auxiliary device monitoring systems are consistent; and if the operation task is consistent with the operation task, sending a remote control signal of the next device to the patrol system until switching operation of all devices in the operation task is completed.
8. The one-key sequential control operation method of the transformer substation according to claim 5, wherein the main and auxiliary equipment monitoring system performs real-time image display on the equipment displacement result; meanwhile, real-time video display is carried out on the equipment in the one-key sequential control process.
9. The substation one-key sequence control operation method according to claim 5, wherein an equipment resource information configuration file is obtained, and the configuration file specifically includes a name and a monitoring index number of the substation equipment.
10. The substation one-key sequence control operation method according to claim 5, wherein the analysis device displacement result specifically comprises: and analyzing the acquired equipment image, and determining an equipment displacement result by using an image recognition algorithm.
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CN117394549A (en) * | 2023-12-11 | 2024-01-12 | 国网江苏省电力有限公司苏州供电分公司 | Main and auxiliary linkage checking system, method and equipment for substation equipment and storage medium |
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CN117394549A (en) * | 2023-12-11 | 2024-01-12 | 国网江苏省电力有限公司苏州供电分公司 | Main and auxiliary linkage checking system, method and equipment for substation equipment and storage medium |
CN117394549B (en) * | 2023-12-11 | 2024-02-13 | 国网江苏省电力有限公司苏州供电分公司 | Main and auxiliary linkage checking system, method and equipment for substation equipment and storage medium |
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