CN115550839A - A positioning system and method for personnel in a substation operation area - Google Patents

Abstract

The invention discloses a positioning system and a method for personnel in a transformer substation operation area, wherein the positioning system comprises a positioning tag, at least two positioning base stations and a server, the positioning tag is worn on a user, when the user enters a transformer substation operation area and starts the positioning tag, the positioning tag can send wireless signals to each positioning base station continuously, each positioning base station records the receiving time of each wireless signal and sends the wireless signals to the server, the server determines the current position of the positioning tag by adopting a time difference of arrival method, and the current position is determined as a mark of the positioning point of the user in a transformer substation in a three-dimensional simulation model. The invention can realize the positioning of the field operating personnel when the field operating personnel enter the operating area of the transformer substation, and can display the positioning point of the field operating personnel in real time in the three-dimensional simulation model of the transformer substation, thereby being capable of finding out the condition that the field operating personnel do not go around or enter the electrified area by mistake in time, and effectively avoiding personal accidents and equipment accidents.

Description

A positioning system and method for personnel in a substation operation area

technical field

The invention relates to the technical field of positioning, and more specifically relates to a positioning system and method for personnel in a substation operation area.

Background technique

As an important part of the power system and an important part of stable operation, the substation is related to the safety and efficiency of the entire power grid operation. There are various important substation equipment distributed in the substation. The existing technology adopts methods such as video surveillance and fence protection to control the safety of these substation equipment.

However, at present, all protective measures in substations, whether it is video surveillance or fence protection, mainly rely on on-site operators and background manual management. When on-site operators enter the substation, the existing camera monitoring is difficult to accurately monitor the location of on-site operators Therefore, if the inspection is not in place and the on-site workers approach or enter the live area by mistake, they cannot be detected in time, and personal accidents, equipment accidents, etc. are prone to occur, which will have a serious impact on the substation and even the entire power system.

Contents of the invention

In view of this, the present invention discloses a positioning system and method for personnel in the substation operation area, so as to realize the positioning of the on-site operators when the on-site operators enter the substation operation area, and to display the on-site operations in real time in the three-dimensional simulation model of the substation The positioning point of personnel, so that it can be found in time that the on-site operators are not patrolling in place, approaching or straying into the live area, effectively avoiding personal accidents and equipment accidents, and ensuring the safe and stable operation of substations and even the entire power system.

A positioning system for personnel in a substation operation area, comprising:

The positioning tag is used to wear on the user when the user enters the operation area of the substation, receives an opening instruction sent by the user, and continuously sends wireless signals outward according to the opening instruction;

At least two positioning base stations, each of the positioning base stations is used to receive the wireless signals continuously sent by the positioning tags, and record the receiving time of each wireless signal, wherein each of the positioning base stations is set in a substation The location is different;

The server is connected in communication with each of the positioning base stations, and is used to obtain the wireless signal receiving time currently recorded by each of the positioning base stations, and based on each of the wireless signal receiving times, determine the current location of the positioning tag by using a time difference of arrival method. position, determining the current position as the positioning point of the user wearing the positioning tag in the substation, and marking it in the pre-built three-dimensional simulation model of the substation.

Optionally, the positioning tag is a UWB positioning tag, and the positioning base station is a UWB positioning base station.

Optionally, each of the positioning base stations is communicatively connected to the server through a switch.

Optionally, the switch includes: a POE switch and an Ethernet switch;

One end of the POE switch is connected to each of the positioning base stations, and the other end of the POE switch is connected to the server through the Ethernet switch.

Optionally, the positioning system also includes: a camera;

The camera is installed in the substation and connected to the POE switch for collecting monitoring video of the substation, and sending the monitoring video to the server through the POE switch.

Optionally, the positioning system further includes: a terminal;

The terminal is connected to the server through the Ethernet switch, and is used for remotely accessing the positioning information of the user in the substation stored in the server, and can display the three-dimensional simulation of the user in the substation Anchor point in the model.

A method for locating personnel in a substation operation area, which is applied to the server in the above-mentioned locating system, and the locating method includes:

Obtain the wireless signal receiving time currently recorded by each positioning base station;

Based on each of the wireless signal receiving times, the current location of the positioning tag is determined by using a time difference of arrival method;

The current position is determined as the positioning point of the user wearing the positioning tag in the substation, and marked in the pre-built three-dimensional simulation model of the substation.

Optionally, the determining the current position of the positioning tag by using a time difference of arrival method based on each of the wireless signal receiving times includes:

Determine the wireless signal transmission time between each of the positioning base stations and the positioning tag based on the adjacent wireless signal receiving time recorded by each of the positioning base stations;

Determine the current distance between each of the positioning base stations and the positioning tag based on the wireless signal transmission speed and the wireless signal transmission time corresponding to each of the positioning base stations;

The current position of the positioning tag is determined based on each of the current distances.

Optionally, the determining the current position of the positioning tag based on each of the current distances includes:

Draw a circle with each of the positioning base stations as the center and the current distance corresponding to each of the positioning base stations as the radius;

The intersection point of each circle is determined as the current position of the positioning tag.

Optionally, also include:

Obtaining each of the positioning points of the user in the substation within a preset time period;

Connecting each of the positioning points to obtain the moving track of the user in the substation within the preset time period.

Optionally, also include:

judging whether the positioning point of the user in the substation is in the operation area of the substation;

If not, an alarm signal is output to the positioning tag.

Optionally, the alarm signal is a vibration alarm signal and/or a voice alarm signal.

Optionally, the construction process of the three-dimensional simulation model of the substation includes:

Obtain attribute information of all hardware facilities in the substation;

A three-dimensional virtual simulation technology is used for all the attribute information to construct a three-dimensional simulation model of the substation.

It can be known from the above technical solution that the present invention discloses a positioning system and method for personnel in a substation operation area. The positioning system includes a positioning tag, at least two positioning base stations and a server. The positioning tag is worn on the user. When the user enters the substation operating area When the positioning tag is turned on, the positioning tag will continuously send wireless signals to each positioning base station. Each positioning base station records the receiving time of each wireless signal and sends it to the server. The server determines the positioning tag by using the arrival time difference method based on the receiving time of each wireless signal. and determine the current location as the positioning point of the user wearing the positioning tag in the substation, and mark it in the pre-built three-dimensional simulation model of the substation. It can be seen that the present invention can realize the positioning of the on-site operators when the on-site operators enter the substation operation area, and can display the location points of the on-site operators in real time in the three-dimensional simulation model of the substation, so that it can be found in time that the on-site operators are not patrolling. In place, close to or mistakenly entering the live area, it can effectively avoid personal accidents and equipment accidents, and ensure the safe and stable operation of substations and even the entire power system.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those skilled in the art, other drawings can also be obtained according to the disclosed drawings without creative work.

Fig. 1 is a schematic diagram of a positioning system for personnel in a substation operation area disclosed by an embodiment of the present invention;

Fig. 2 is a schematic diagram of another positioning system for personnel in a substation operation area disclosed by an embodiment of the present invention;

Fig. 3 is a flow chart of a method for locating personnel in a substation operation area disclosed by an embodiment of the present invention;

Fig. 4 is a flow chart of another method for locating personnel in a substation operation area disclosed by an embodiment of the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The embodiment of the present invention discloses a positioning system and method for personnel in a substation operation area. The positioning system includes a positioning tag, at least two positioning base stations and a server. The positioning tag is worn on the user. When the user enters the substation operating area and turns on the positioning tag, The positioning tag will continuously send wireless signals to each positioning base station. Each positioning base station records the receiving time of each wireless signal and sends it to the server. Based on the receiving time of each wireless signal, the server uses the time difference method to determine the current position of the positioning tag and Determine the current position as the positioning point of the user wearing the positioning tag in the substation, and mark it in the pre-built three-dimensional simulation model of the substation. It can be seen that the present invention can realize the positioning of the on-site operators when the on-site operators enter the substation operation area, and can display the location points of the on-site operators in real time in the three-dimensional simulation model of the substation, so that it can be found in time that the on-site operators are not patrolling. In place, close to or mistakenly entering the live area, it can effectively avoid personal accidents and equipment accidents, and ensure the safe and stable operation of substations and even the entire power system.

Referring to FIG. 1 , a schematic diagram of a positioning system for personnel in a substation operation area disclosed by an embodiment of the present invention, the positioning system includes: a positioning tag 11, at least two positioning base stations 12 and a server 13, wherein each positioning base station 12 is set in the substation The location is different.

Wherein, the positioning tag 11 is used to be worn on the user when the user enters the operation area of the substation, receives an opening instruction sent by the user, and continuously sends wireless signals outward according to the opening instruction.

It should be noted that the users in this embodiment refer to on-site operators working in the substation operation area.

In practical applications, the positioning tag 11 can be installed on the operator's helmet, or worn on the operator's work badge, and so on. The wearing position of the positioning tag 11 depends on actual needs, and the present invention does not make a limitation here.

Specifically, when the operator wears the positioning tag 11 and enters the operation area of the substation, the on-site operator sends an opening instruction to the positioning tag 11 by turning on the working power of the positioning tag 11, and the positioning tag 11 will continuously send out wireless signals after it is turned on. , the wireless signal may be an electromagnetic wave.

Each positioning base station 12 is used to receive the wireless signals continuously sent by the positioning tags 11, and record the receiving time of each wireless signal.

The server 13 communicates with each of the positioning base stations 12 respectively, and is used to obtain the wireless signal receiving time currently recorded by each of the positioning base stations 12, based on each of the wireless signal receiving times, using the time difference of arrival method to determine the positioning tag 11, mark the current position in the pre-built three-dimensional simulation model of the substation, and determine the current position as the positioning point of the user wearing the positioning tag 11 in the substation.

Wherein, the Time Difference Of Arrival (Time Difference Of Arrival, TDOA) method is a method for positioning by using the time difference. By measuring the time when the signal arrives at the monitoring station, the distance from the signal source can be determined (distance = time * electromagnetic wave velocity). The position of the signal source can be determined by using the distance from the signal source to each monitoring station (with the monitoring station as the center and the distance as the radius to draw a circle, and the intersection point of the circle is the position of the signal source). Since the absolute time is generally difficult to measure, by comparing the absolute time difference of the signals arriving at each monitoring station, a hyperbola with the monitoring station as the focus and the distance difference as the long axis can be drawn. The intersection point of the hyperbola is the position of the signal source.

In this embodiment, a three-dimensional simulation model of a substation is constructed in advance. After the server 13 determines the current position of the positioning tag 11 for the wireless signal reception time currently recorded by each positioning base station 12, it also determines the current position of the operator wearing the positioning tag 11. At the same time, the current position of the operator is marked in the three-dimensional simulation model of the substation, which can conveniently and directly know the positioning point of the operator in the substation, and realize the positioning of the operator.

In summary, the present invention discloses a positioning system for personnel in a substation operation area, including a positioning tag 11, at least two positioning base stations 12, and a server 13. The positioning tag 11 is worn on the user, and when the user enters the substation operation area, the positioning tag is turned on. At 11 o'clock, the positioning tag 11 will continuously send wireless signals to each positioning base station 12, each positioning base station 12 records each wireless signal receiving time and sends it to the server 13, and the server 13 adopts the arrival time difference method based on each wireless signal receiving time Determine the current position of the positioning tag 11, and determine the current position as the positioning point of the user wearing the positioning tag 11 in the substation, and mark it in the pre-built three-dimensional simulation model of the substation. It can be seen that the present invention can realize the positioning of the on-site operators when the on-site operators enter the substation operation area, and can display the location points of the on-site operators in real time in the three-dimensional simulation model of the substation, so that it can be found in time that the on-site operators are not patrolling. In place, close to or mistakenly entering the live area, it can effectively avoid personal accidents and equipment accidents, and ensure the safe and stable operation of substations and even the entire power system.

Preferably, the positioning tag 11 may be a UWB positioning tag, and the positioning base station 12 may be a UWB positioning base station.

UWB (Ultra Wide Band, ultra-wide band) technology is a wireless carrier communication technology, which uses nanosecond-level non-sinusoidal narrow pulses to transmit data, so it occupies a wide spectrum range. UWB technology can send and receive nanosecond or sub-nanosecond extremely narrow pulses to transmit data. It has the advantages of strong penetrating power, low power consumption, high security, and accurate positioning. It is especially suitable for dense multipath places such as indoors. high-speed wireless access.

In the present invention, the UWB positioning tag is used as a signal source to send out wireless signals, and the UWB positioning base station receives the wireless signals sent by the UWB positioning tags. The invention is based on the UWB high-precision positioning system, and effectively eliminates potential safety hazards in the power supply operation project through real-time positioning of on-site operators entering the substation operation area.

The invention combines UWB technology with three-dimensional modeling to realize precise positioning of on-site operators. Specifically: the present invention uses the latest three-dimensional virtual simulation technology to draw all hardware facilities in the substation into corresponding three-dimensional graphics, which correspond to the actual scene coordinate system. show out.

In order to further optimize the above-mentioned embodiment, refer to FIG. 2 , which is a schematic diagram of another positioning system for substation operation area personnel disclosed in the embodiment of the present invention. On the basis of the embodiment shown in FIG. 1 , the positioning system may also include: a switch 14, each The positioning base station 12 is connected to the server 13 through a switch 14 .

As a data transmission device, the switch 14 can be connected with each positioning base station 12 and server 13 using a wired network and a wireless network component to form a small local area network. The channel of transmission.

Preferably, the switch 14 may include: a POE ((Power Over Ethernet, active Ethernet) switch 141 and an Ethernet switch 142 .

One end of the POE switch 141 is connected to each positioning base station 12 , and the other end of the POE switch 141 is connected to the server 13 through the Ethernet switch 142 .

In order to further optimize the foregoing embodiment, the positioning system may also include: a camera 15, which is installed in the substation and connected to the POE switch 141 for collecting monitoring video of the substation, and passing the monitoring video through the POE The switch 141 sends to the server 13.

The present invention establishes a monitoring environment for on-site operation of a substation based on UWB positioning. According to the on-site investigation of the substation, combined with the installation distance and angle of the collection equipment and ensuring the accuracy of identification and control, a fixed camera 15 is deployed and installed to monitor the on-site environment and enable The video linkage function of the UWB system controls the movement trajectory of on-site personnel, strays into the electrified interval and other dangerous violations.

In order to further optimize the above-mentioned embodiment, the positioning system may also include: a terminal 16, which is connected to the server 13 through the Ethernet switch 142, and is used for remotely accessing the positioning information of the user in the substation stored in the server 13, and can display the user's Locate points in the 3D simulation model of the substation.

Corresponding to the above embodiments, the present invention also discloses a method for locating personnel in the substation operation area.

Referring to FIG. 3 , a flow chart of a method for locating personnel in a substation operation area disclosed by an embodiment of the present invention, the method is applied to the server in the embodiment shown in FIG. 1 and FIG. 2 , and the locating method includes:

Step S101, acquiring the wireless signal receiving time currently recorded by each positioning base station.

When the operator wears the positioning tag and enters the operation area of the substation, the on-site operator sends an opening command to the positioning tag by turning on the working power of the positioning tag. After the positioning tag is turned on, it will continuously send out wireless signals. The tag continuously sends wireless signals, records each wireless signal receiving time, and sends the wireless signal receiving time to the server.

Step S102, based on the receiving time of each wireless signal, determine the current position of the positioning tag by using the time difference of arrival method.

The time difference of arrival method is a method of positioning using a time difference. By measuring the time when the signal arrives at the monitoring station, the distance from the signal source can be determined (distance = time * electromagnetic wave velocity). The position of the signal source can be determined by using the distance from the signal source to each monitoring station (with the monitoring station as the center and the distance as the radius to draw a circle, and the intersection point of the circle is the position of the signal source). Since the absolute time is generally difficult to measure, by comparing the absolute time difference of the signals arriving at each monitoring station, a hyperbola with the monitoring station as the focus and the distance difference as the long axis can be drawn. The intersection point of the hyperbola is the position of the signal source.

Step S103: Determine the current position of the positioning tag as the positioning point of the user wearing the positioning tag in the substation, and mark it in the pre-built three-dimensional simulation model of the substation.

In this embodiment, the three-dimensional simulation model of the substation is pre-built. After the server determines the current position of the positioning tag based on the wireless signal receiving time currently recorded by each positioning base station, it also determines the current position of the operator wearing the positioning tag. The current position of the personnel is marked in the three-dimensional simulation model of the substation, which can conveniently and directly know the positioning point of the operator in the substation, and realize the positioning of the operator.

In practical applications, when constructing a 3D simulation model of a substation, the attribute information of all hardware facilities in the substation can be obtained, and the 3D virtual simulation technology is used for the attribute information of all hardware facilities to construct a 3D simulation model of the substation.

In summary, the present invention discloses a method for locating personnel in a substation operation area. The server obtains the wireless signal receiving time currently recorded by each positioning base station, and based on each wireless signal receiving time, uses the arrival time difference method to determine the current position of the positioning tag. The current location of the positioning tag is determined as the positioning point of the user wearing the positioning tag in the substation, and is marked in the pre-built three-dimensional simulation model of the substation. It can be seen that the present invention can realize the positioning of the on-site operators when the on-site operators enter the substation operation area, and can display the location points of the on-site operators in real time in the three-dimensional simulation model of the substation, so that it can be found in time that the on-site operators are not patrolling. In place, close to or mistakenly entering the live area, it can effectively avoid personal accidents and equipment accidents, and ensure the safe and stable operation of substations and even the entire power system.

In order to further optimize the above embodiment, step S102 may specifically include:

Based on the adjacent wireless signal receiving time recorded by each positioning base station, determine the wireless signal transmission time between each positioning base station and the positioning tag;

Based on the wireless signal transmission speed and the wireless signal transmission time corresponding to each of the positioning base stations, determine the current distance between each positioning base station and the positioning tag;

The current position of the positioning tag is determined based on the respective current distances.

Wherein, the current distance between each positioning base station and the positioning tag is the product of the wireless signal transmission time and the wireless signal propagation speed, usually the wireless signal transmission speed is known, therefore, when determining the distance between each positioning base station and the positioning tag After the transmission time of the wireless signal, the current distance between each positioning base station and the positioning tag can be obtained.

Wherein, the process of determining the current position of the positioning tag based on each current distance may specifically include:

With each positioning base station as the center, a circle is drawn with the current distance corresponding to each positioning base station as the radius, and the intersection point of each circle is determined as the current position of the positioning tag.

In order to further optimize the above embodiment, see FIG. 4 , another flow chart of a method for locating personnel in a substation operation area disclosed in the embodiment of the present invention. On the basis of the embodiment shown in FIG. 3 , after step S103, it may further include:

Step S104, obtaining each positioning point of the user in the substation within a preset time period;

Step S105 , connecting each positioning point to obtain the moving track of the user in the substation within a preset time period.

Wherein, the preset time period refers to the working time period of on-site operators in the substation, and the specific value is determined according to actual needs, which is not limited in the present invention.

Specifically, after determining the location points of the on-site operators in the three-dimensional simulation model of the substation within the preset time period, by connecting each location point, the movement trajectory of the on-site operators in the substation within the preset time period can be obtained. This facilitates the management and control of dangerous violations such as on-site workers entering non-operating areas by mistake.

In order to further optimize the above embodiment, after step S103, it may further include:

Judging whether the user's positioning point in the substation is in the operation area of the substation;

If not, an alarm signal is output to the location tag.

Wherein, the alarm signal may be a vibration alarm signal and/or a voice alarm signal.

In practical application, the present invention divides the equipment area of the substation into a charged area and an operation area spatially. When there is an electrified space above the area), an alarm signal is sent to the positioning tag worn by the on-site operators. For example, the positioning tag can be used to vibrate and alarm, and at the same time, a voice alarm can be issued to remind the on-site operators to correct violations in time. The operation and maintenance personnel on duty can pass The video linkage function checks the video images of each camera and corrects violations in time.

The positioning tag in this embodiment can have a voice output function, and of course, it can also be linked with an on-site IP broadcast voice alarm.

Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (13)

1. A positioning system for personnel in a substation operation area is characterized by comprising:

the positioning tag is used for being worn on a user when the user enters a transformer substation operation area, receiving an opening instruction sent by the user, and sending a wireless signal to the outside uninterruptedly according to the opening instruction;

each positioning base station is used for receiving the wireless signals sent by the positioning labels uninterruptedly and recording the receiving time of each wireless signal, wherein the positioning base stations are arranged at different positions in the transformer substation;

and the server is in communication connection with each positioning base station respectively and is used for acquiring the wireless signal receiving time currently recorded by each positioning base station, determining the current position of the positioning label by adopting a time difference of arrival method based on each wireless signal receiving time, determining the current position as the positioning point of the user wearing the positioning label in the transformer substation, and marking the positioning point in a transformer substation three-dimensional simulation model constructed in advance.

2. The positioning system of claim 1, wherein the positioning tag is a UWB positioning tag and the positioning base station is a UWB positioning base station.

3. The location system of claim 1, wherein each of the location base stations is communicatively coupled to the server via a switch.

4. The location system of claim 1, wherein the switch comprises: POE switch and Ethernet switch;

one end of the POE switch is connected with each positioning base station, and the other end of the POE switch is connected with the server through the Ethernet switch.

5. The positioning system of claim 4, further comprising: a camera;

the camera is installed in the transformer substation, is connected with the POE switch, and is used for collecting the monitoring video of the transformer substation and sending the monitoring video to the server through the POE switch.

6. The positioning system of claim 4, further comprising: a terminal;

the terminal is connected with the server through the Ethernet switch and used for remotely accessing the positioning information of the user in the transformer substation, which is stored in the server, and displaying the positioning point of the user in the three-dimensional simulation model of the transformer substation.

7. A positioning method for personnel in a substation operation area, which is applied to a server in the positioning system of any one of claims 1 to 6, and comprises the following steps:

acquiring the wireless signal receiving time currently recorded by each positioning base station;

determining the current position of the positioning label by adopting a time difference of arrival method based on the receiving time of each wireless signal;

and determining the current position as a positioning point of the user wearing the positioning tag in the transformer substation, and marking the positioning point in a pre-constructed transformer substation three-dimensional simulation model.

8. The method according to claim 7, wherein said determining the current position of the positioning tag by using a time difference of arrival method based on the receiving time of each wireless signal comprises:

determining a wireless signal transmission time between each positioning base station and the positioning tag based on the adjacent wireless signal receiving time recorded by each positioning base station;

determining a current distance between each positioning base station and the positioning tag based on a wireless signal transmission speed and the wireless signal transmission time corresponding to each positioning base station;

determining the current location of the location tag based on each of the current distances.

9. The method according to claim 8, wherein said determining the current position of the positioning tag based on the respective current distance comprises:

drawing a circle by taking each positioning base station as a center and the current distance corresponding to each positioning base station as a radius;

determining the intersection of the circles as the current position of the location tag.

10. The positioning method according to claim 7, further comprising:

acquiring each positioning point of the user in the transformer substation within a preset time period;

and connecting the positioning points to obtain the moving track of the user in the transformer substation within the preset time period.

11. The positioning method according to claim 7, further comprising:

judging whether the positioning point of the user in the transformer substation is in the operation area of the transformer substation or not;

and if not, outputting an alarm signal to the positioning tag.

12. The method according to claim 11, wherein the alarm signal is a vibration alarm signal and/or a voice alarm signal.

13. The positioning method of claim 7, wherein the construction process of the three-dimensional simulation model of the substation comprises the following steps:

acquiring attribute information of all hardware facilities in the transformer substation;

and constructing the transformer substation three-dimensional simulation model by adopting a three-dimensional virtual simulation technology for all the attribute information.

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