CN111488819B - Disaster damage monitoring, sensing and collecting method and device for power equipment - Google Patents

Abstract

The invention discloses a method and device for disaster damage monitoring and sensing acquisition of electric equipment. The method includes the following steps: collecting visual information of an electric power site through a visual detector, and generating multiple three-dimensional images of the electric power site; the visual detection The detector includes a visible light detector, an infrared detector and an ultraviolet detector; the plurality of three-dimensional images are processed to determine the equipment identification corresponding to the electric equipment contained in the three-dimensional image; and the equipment identification stored in the server is obtained Corresponding real-time operating data and historical operating data; displaying the real-time operating data and the historical operating data at corresponding positions in the three-dimensional image. The invention can accurately acquire the operation data and the damage condition of the electric equipment, and assist the on-site emergency personnel to quickly understand the disaster situation of the electric equipment and carry out rescue and repair.

Description

Disaster damage monitoring perception collection method and device for electric equipment

technical field

The invention relates to the technical field of electric power equipment, in particular to a method and device for disaster damage monitoring and sensing collection of electric power equipment.

Background technique

The safe and stable operation of various power equipment in the State Grid is an important guarantee for people's normal life and work. In recent years, various natural disasters have occurred frequently and have an increasing trend. Disasters such as typhoons, heavy rainfall, geological earthquakes, and freezing rain and snow will cause huge damage to power grid equipment.

In the existing technology, the disaster and damage information of power equipment still mainly relies on the way of reporting after manual on-site survey. On the one hand, the efficiency of on-site information collection is not high; Problems such as high reliability and few data sources have affected the scientific decision-making of emergency response, and it is impossible to quickly and comprehensively collect the damaged data of the disaster site equipment.

Contents of the invention

Therefore, the technical problem to be solved by the present invention is to overcome the above-mentioned defects in the prior art, so as to provide a solution that can quickly acquire the operating data of the electric equipment and accurately judge the operating status of the electric equipment.

For this reason, according to one aspect of the present invention, a method for collecting perception and monitoring of disaster damage of electric equipment is provided, including the following steps:

The visual information of the electric power scene is collected by the visual detector, and multiple three-dimensional images of the electric power scene are generated; the visual detector includes a visible light detector, an infrared detector and an ultraviolet detector;

Processing the multiple three-dimensional images to determine the equipment identification corresponding to the electric equipment included in the three-dimensional images;

Obtain real-time operation data and historical operation data corresponding to the device identifier stored in the server;

Displaying the real-time operating data and the historical operating data at corresponding positions in the three-dimensional image.

Exemplarily, before the step of collecting the visual information of the electric power site through the visual detector and generating multiple three-dimensional images of the electric power site, it further includes:

Obtain the standard point cloud features of each electric device in the electric power site, and store the mapping relationship between the standard point cloud features and the corresponding device identifiers of the electric devices.

Exemplarily, the step of performing image processing on the three-dimensional image to determine the equipment identification corresponding to the electric equipment contained in the three-dimensional image includes:

Preprocessing the three-dimensional image to remove noise;

adjusting the three-dimensional image based on the standard point cloud information, so that the angle of view of the three-dimensional image corresponds to the angle of view of the standard point cloud information;

Comparing the point cloud information of the electric equipment included in the three-dimensional image with the stored standard point cloud information to determine the standard point cloud information corresponding to the point cloud information of the electric equipment, and obtaining the standard point cloud information corresponding to the standard point cloud information Point cloud information has a mapping relationship with device identification.

Exemplarily, after the step of collecting the visual information of the electric power scene through the visual detector and generating multiple three-dimensional images of the electric power scene, it further includes:

Detecting whether the continuity condition is satisfied among the plurality of three-dimensional images;

When the continuity condition is not satisfied among the plurality of 3D images, a supplementary 3D image of the power scene is generated by the visual detector, so that the supplementary 3D image and the plurality of 3D images meet the required conditions. the continuity condition.

Exemplarily, it also includes:

Based on the visual features of the electrical equipment appearing in the three-dimensional image, the operating status of the electrical equipment is determined; the visual features include temperature features and hand indication features.

Exemplarily, it also includes:

When the real-time operation data and historical operation data corresponding to the electric equipment cannot be obtained through the server, the real-time operation data corresponding to the electric equipment is obtained wirelessly.

Exemplarily, it also includes:

An operating condition of the electrical equipment is determined based on the real-time operating data and the historical operating data.

According to the second aspect of the present invention, a disaster damage monitoring and sensing collection device for electric equipment is provided, including:

The image acquisition unit is used to collect visual information of the power site through a visual detector, and generate multiple three-dimensional images of the power site; the visual detector includes a visible light detector, an infrared detector and an ultraviolet detector;

An equipment identification unit, configured to process the multiple three-dimensional images to determine the equipment identification corresponding to the electric equipment included in the three-dimensional images;

a data acquisition unit, configured to acquire real-time operation data and historical operation data corresponding to the device identifier stored in the server;

A fusion display unit, configured to display the real-time operating data and the historical operating data at corresponding positions in the three-dimensional image.

According to a third aspect of the present invention, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the steps of the above-mentioned method are implemented when the processor executes the computer program .

According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

The technical solution of the present invention has the following advantages:

(1) The present invention uses the machine vision environment modeling technology in the equipment identification process of the power disaster scene, and can realize the refined identification and comparison of the power equipment in the disaster scene without the help of external auxiliary equipment, so as to accurately obtain the field equipment real-time and historical operating data.

(2) The present invention combines machine vision point cloud recognition and wireless sensor networking technology, utilizes machine vision point cloud recognition technology to realize the refined recognition of field equipment, obtains the running vision of the corresponding equipment in the background, and utilizes wireless sensor networking ZigBee and other wireless communications The module realizes the rapid networking and data collection of on-site sensors of power equipment after the background monitoring system cannot obtain the real-time operation status of the equipment due to serious disaster damage. Through the fusion of two data collection technologies, a complete and reliable on-site power equipment disaster damage The data collection method system ensures that the on-site emergency personnel can quickly and accurately obtain the damage situation of the power equipment, so as to quickly carry out emergency rescue and rescue.

(3) The present invention combines RGB visible light modeling and multi-band (infrared, ultraviolet) modeling methods to improve the recognition rate of equipment in complex disaster environments. For equipment failures that cannot be recognized by the naked eye, multi-band light is used for monitoring Identify and effectively improve the probability of equipment failure discovery.

(4) The present invention uses augmented reality technology to superimpose and display the real-time and historical operation information of the identified physical equipment with the physical scene of the equipment, so that on-site operators can vividly and accurately obtain detailed real-time operational data and damage conditions of the physical equipment, assisting On-site emergency personnel quickly understood the disaster situation of power equipment and carried out rescue and repair.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

FIG. 1 is a flow chart of a specific example of the disaster damage monitoring and sensing acquisition method for electric equipment in Embodiment 1 of the present invention;

FIG. 2 is a functional block diagram of a specific example of a disaster damage monitoring and sensing collection device for electric equipment in Embodiment 2 of the present invention;

Fig. 3 is a schematic block diagram of the hardware structure of the disaster damage monitoring and sensing collection device for electric equipment in Embodiment 3 of the present invention.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. 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.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as there is no conflict with each other.

Example 1

Please refer to FIG. 1 , which shows a method for sensing and collecting disaster damage monitoring of electric equipment, including the following steps:

S100: Collecting visual information of the power site through a visual detector, and generating multiple three-dimensional images of the power site; the visual detector includes a visible light detector, an infrared detector and an ultraviolet detector.

The power site in this embodiment may include actual application scenarios such as a substation, a booster station of a wind farm, and a thermal power plant. The environment of the power field can be scanned by the visual detector to generate a video clip of the power field, and the video clip is composed of a plurality of consecutive three-dimensional images. For example, a 360° scan can be performed around the entire power site to completely acquire 3D images of all electrical equipment on the power site. The visual detector in this embodiment can emit multiple types of light such as visible light, infrared light, and ultraviolet light. Correspondingly, the three-dimensional image can include multimodal image forms such as visible light image, infrared image, and ultraviolet image. Visible light images can reflect the surface condition of electrical equipment and the needle indication, infrared images can reflect the temperature of electrical equipment, ultraviolet images can reflect the discharge degree of electrical equipment, etc., so that the operating status of electrical equipment can be monitored from various aspects.

S200: Process the multiple three-dimensional images to determine equipment identifiers corresponding to electric equipment included in the three-dimensional images.

It can be understood that the electric power site includes multiple electric devices, and each device identifier is used to uniquely identify one electric device. Different device identifiers in the power field may be determined through different location information, or different device identifiers may be determined through different shape information, which is not limited in this embodiment.

S300: Obtain real-time operation data and historical operation data stored in the server and corresponding to the device identifier.

Usually the operation data of each electric equipment will be transmitted to the remote server in real time, so on the basis of obtaining the unique equipment identification corresponding to each equipment, the historical operation data corresponding to the target equipment identification can be obtained from the remote server according to the equipment identification and real-time data. It can be understood that the operating parameters of some power equipment can be directly observed by the naked eye, such as pressure data and temperature data with pointer indication on the dial; some operating parameters of power equipment cannot be directly observed by the naked eye, such as the real-time speed of the generator, Real-time voltage across the transformer, etc. By accessing the remote server, all the operating data corresponding to each power equipment can be accurately obtained.

S400: Display the real-time operation data and the historical operation data at corresponding positions in the three-dimensional image.

The historical operation information and real-time operation information of the electric equipment can be used as the basis for judging whether the operation status of the electric equipment is normal. The corresponding position of the three-dimensional image may be a spatial position such as above, below or side of the electrical equipment. For example, the 3D image contains three electrical equipments including equipment 1, equipment 2 and equipment 3, in which the real-time operation data of equipment 1 obtained from the server is a value of 1, and the historical operation data of equipment 1 is a value of 1'; the real-time operation data of equipment 2 is The operation data is value 2, the historical operation data of device 2 is value 2'; the real-time operation data of device 3 is value 3, and the historical operation data of device 3 is value 3'. You can display the value 1 and value 1' above the image of device 1, the value 2 and value 2' above the image of device 2, and the value 3 and value 3' above the image of device 3, so that Fusion display of real-time operating data and historical operating data of power equipment in 3D images.

The real-time operation data of electric equipment may include one or several data, and the historical operation data may include a large amount of data. A limited amount of historical operation data can be selected by setting filter conditions, such as the historical operation data in the last week, so that the display space on the 3D image can be saved and the comparison process can be simplified.

This embodiment recognizes the equipment identification of the electric equipment in the image based on the three-dimensional image, obtains the operating data of the electric equipment from the server and displays it in the three-dimensional image, which helps the on-site emergency personnel to accurately and quickly judge the operating state of the electric equipment, and improves the efficiency of the disaster. The monitoring efficiency of power equipment in case of loss.

Preferably, before step S100, the method further includes: acquiring standard point cloud features of each electric device in the electric power site, and storing a mapping relationship between the standard point cloud features and corresponding device identifiers of electric devices.

In this step, the electrical equipment is modeled by machine vision technology, and the established electrical equipment model is used to identify the electrical equipment from the three-dimensional image. Specifically, visual detectors such as RGB-D sensors and multi-band sensors (infrared detectors, ultraviolet detectors) can be used to obtain point cloud information of power equipment in real time, and ORB feature operators in binary form can be used to extract features from point cloud information. Obtain standard point cloud features of electrical equipment. During specific implementation, the standard point cloud features of electrical equipment can be described as visual words in binary form. When a plurality of electric devices constitute a power system, the visual word corresponding to each electric device can be stored in a child node of the tree structure, and the power system can be used as the root node of the tree structure. When multiple power systems are included, visual words corresponding to each power device in each power system may be stored, thereby forming a visual dictionary. Through this visual dictionary, the standard point cloud features of each power equipment and its affiliation with the corresponding power system can be queried.

On the basis of storing the standard point cloud features, this step further stores the mapping relationship between the standard point cloud features and the device identification. For example, standard point cloud feature 1 corresponds to device ID 1, standard point cloud feature 2 corresponds to device ID 2, and standard point cloud feature 3 corresponds to device ID 3.

Using machine vision technology to model electrical equipment and storing the mapping relationship between standard point cloud features of electrical equipment and equipment identification will help improve the speed and accuracy of electrical equipment identification.

Preferably, step S200 includes:

S210: Perform preprocessing on the 3D image to remove noise. Since there may be noise and other factors that are not conducive to image analysis during the image acquisition process and transmission process, this step is used for pre-processing of the image, mainly using low-pass filtering to remove image noise and improve image quality.

S220: Adjust the 3D image based on the standard point cloud information, so that the viewing angle of the 3D image corresponds to the viewing angle of the standard point cloud information. It can be understood that there may be differences in shooting angles or local relative positions between the 3D images of power equipment acquired in real time by visual detectors and the standard point cloud images acquired during the pre-modeling process. In order to facilitate subsequent feature extraction and equipment In the recognition process, it is necessary to register the images with differences, so that the angle of view of the real-time acquired 3D image corresponds to the angle of view of the pre-stored standard point cloud information. Specifically, the method based on feature matching can be used, and the sift algorithm can be used to extract stable feature points, and to deal with the matching problems in the case of translation, rotation, affine transformation, perspective transformation, etc. between two images, which has great influence on illumination changes. Good robustness, can match with high probability.

S230: Compare the point cloud information of the electric equipment included in the three-dimensional image with the stored standard point cloud information, to determine the standard point cloud information corresponding to the point cloud information of the electric equipment, and obtain the corresponding standard point cloud information. The above-mentioned standard point cloud information has a device identifier with a mapping relationship.

At this time, image matching is completed between the 3D image of the power equipment acquired in real time by the visual detector and the standard point cloud image acquired in the pre-modeling process, so that the two correspond to each other in terms of viewing angle and light. On this basis, the point cloud information between the real-time collected 3D images is compared with the standard point cloud information in the standard point cloud image acquired during the modeling process to determine the equipment identification of the power equipment. The point cloud information described in this embodiment may be multiple feature points in a three-dimensional point cloud image. For example, when the similarity between the real-time collected point cloud information and the standard point cloud information is greater than a preset threshold, it is determined that the real-time collected point cloud information corresponds to the standard point cloud information.

By preprocessing the 3D images collected in real time and comparing the images with standard point cloud information to determine the equipment identification, the efficiency and accuracy of equipment identification confirmation can be improved and identification errors can be avoided.

Preferably, after step S100, it also includes:

Detecting whether the continuity condition is satisfied among the plurality of three-dimensional images; when the continuity condition is not satisfied among the plurality of three-dimensional images, generating a supplementary three-dimensional image of the power scene through the visual detector, so that all The continuity condition is satisfied between the supplementary 3D image and the plurality of 3D images.

The continuity conditions in this embodiment may include time continuity conditions and geometric consistency conditions. The condition of temporal continuity refers to the continuous shooting time of multiple 3D images, and the condition of geometric consistency refers to the consistency in geometric structure between adjacent 3D images. The angle of view shift between two 3D images does not exceed 15°.

By checking whether the continuity condition is satisfied, it can be ensured that the obtained three-dimensional image can completely reflect the whole picture of the power site, so that the monitoring method of the present invention can cover all the power equipment in the power site and avoid omissions.

Preferably, the method of this embodiment also includes:

Based on the visual features of the electrical equipment appearing in the three-dimensional image, the operating status of the electrical equipment is determined; the visual features include temperature features and hand indication features.

Visual features refer to features that can be directly displayed in a three-dimensional image, such as the pointer indication detected by visible light, the temperature of equipment detected by infrared rays, and the discharge degree detected by ultraviolet rays. The above parameters generally have a corresponding preset range, and when one or several parameters exceed the preset range, it indicates that there may be abnormal conditions in the electric equipment. By extracting visual features, it can provide reliable judgment basis for on-site emergency personnel, so that the operating status of power equipment can be determined simply and intuitively.

In addition, in addition to visual features that can be displayed intuitively, this embodiment can also provide artificial features, mainly to perform mathematical statistics on some parameters that are not easy to be directly judged by the naked eye, such as providing histograms for parameters such as grayscale values and infrared temperature difference values. Statistical graphs in the form of graphs, waveform graphs, etc., can facilitate on-site emergency personnel to understand the equipment status more clearly and comprehensively.

Preferably, the detection method of the present invention also includes:

When the real-time operation data and historical operation data corresponding to the electric equipment cannot be obtained through the server, the real-time operation data corresponding to the electric equipment is obtained wirelessly.

ZigBee and other wireless communication modules can be used to realize fast networking and data collection of various wireless sensors in power equipment. The FPGA-based acquisition terminal, ZigBee transmission network and data center host computer can be used to communicate with the wireless sensor of the field power equipment. Among them, Zig Bee has three standards: Zig Bee coordinator, Zig Bee router and Zig Bee terminal equipment. The coordinator is responsible for initializing, maintaining and controlling the network; the router is responsible for data collection, relaying messages, and providing routing information; the terminal node is responsible for data collection. Each network only needs to configure one coordinator, the coordinator and the router are FFD, and the terminal nodes can be FFD or RFD. The Zig Bee standard supports star, tree, mesh and other network topologies. Zig Bee tree network is the most commonly used topology type, in which the coordinator initializes the network, routers form network branches and relay messages, and terminal nodes do not participate in message routing as leaf nodes. The collection terminal is responsible for collecting and preprocessing the electric energy information of the substation switch cabinet, and using the multi-hop technology of ZigBee to send the data to the host computer in the data center. The data center completes the analysis and processing of the data, displays the final processing results in the form of graphs and reports, and stores the data as needed, so as to realize rapid networking and data collection of field device sensors.

This embodiment can realize rapid networking and data collection of on-site sensors of power equipment after the background server cannot obtain the real-time operation status of the equipment due to serious disaster damage, thereby establishing a complete and reliable on-site power equipment disaster data collection method system to ensure on-site emergency response The personnel can quickly and accurately obtain the damage situation of the power equipment, so as to quickly carry out emergency rescue and rescue.

Preferably, the disaster damage monitoring and perception collection method for electric equipment of the present invention further includes:

An operating condition of the electrical equipment is determined based on the real-time operating data and the historical operating data. For example, a difference between real-time operation data and historical operation data may be calculated, and when the difference is greater than a preset threshold, it is determined that the operation status of the electric equipment is abnormal. This can provide a clear treatment basis for on-site emergency personnel and improve the efficiency of disaster site treatment.

Example 2

This embodiment provides a disaster damage monitoring perception acquisition device 20 for electric equipment, including an image acquisition unit 21 , an equipment identification unit 22 , a data acquisition unit 23 and a fusion display unit 24 . in:

The image acquisition unit 21 is used to collect visual information of the power site through a visual detector, and generate multiple three-dimensional images of the power site; the visual detector includes a visible light detector, an infrared detector and an ultraviolet detector;

The equipment identification unit 22 is configured to process the multiple three-dimensional images to determine the equipment identification corresponding to the electric equipment included in the three-dimensional images;

The data obtaining unit 23 is used to obtain real-time operation data and historical operation data corresponding to the device identification stored in the server;

The fusion display unit 24 is used for displaying the real-time operation data and the historical operation data at corresponding positions in the three-dimensional image.

This embodiment can recognize the equipment identification of the electric equipment in the image based on the three-dimensional image, and obtain the operation data of the electric equipment from the server and display it in the three-dimensional image, which is helpful for on-site emergency personnel to accurately and quickly judge the operation status of the electric equipment, and improve Monitoring efficiency of power equipment under disaster damage conditions.

Example 3

This embodiment also provides a computer device, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack server, a blade server, a tower server, or a cabinet server (including an independent server, or A server cluster composed of multiple servers), etc. The computer device 30 in this embodiment at least includes but is not limited to: a memory 31 and a processor 32 that can be communicatively connected to each other through a system bus, as shown in FIG. 3 . It should be noted that FIG. 3 only shows computer device 30 having components 31-32, but it should be understood that implementation of all of the illustrated components is not required and that more or fewer components may instead be implemented.

In this embodiment, the memory 31 (that is, a readable storage medium) includes a flash memory, a hard disk, a multimedia card, a card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Programmable Read Only Memory (PROM), Magnetic Memory, Magnetic Disk, Optical Disk, etc. In some embodiments, the memory 31 may be an internal storage unit of the computer device 30 , such as a hard disk or memory of the computer device 30 . In some other embodiments, the memory 31 can also be an external storage device of the computer device 30, such as a plug-in hard disk equipped on the computer device 30, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc. Of course, the memory 31 may also include both the internal storage unit of the computer device 30 and its external storage device. In this embodiment, the memory 31 is generally used to store the operating system and various application software installed in the computer device 30, such as the program code of the acquisition device 20 in the second embodiment. In addition, the memory 31 can also be used to temporarily store various types of data that have been output or will be output.

In some embodiments, the processor 32 may be a central processing unit (Central Processing Unit, CPU), a controller, a microcontroller, a microprocessor, or other data processing chips. The processor 32 is generally used to control the overall operation of the computer device 30 . In this embodiment, the processor 32 is used to run the program code or process data stored in the memory 31, for example, to run the disaster damage monitoring and sensing acquisition device 30 of the electric equipment, so as to realize the disaster damage monitoring and sensing acquisition method of the electric equipment in the first embodiment .

Example 4

This embodiment also provides a computer-readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), only Read memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, server, App application store, etc., on which computer programs are stored, The corresponding functions are realized when the program is executed by the processor. The computer-readable storage medium in this embodiment is used to store the device 20 for monitoring and collecting disaster damage monitoring and perception of electric equipment, and when executed by a processor, implements the method for collecting and monitoring and sensing disaster damage for electric equipment in Embodiment 1.

Apparently, the above-mentioned embodiments are only examples for clear description, rather than limiting the implementation. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. And the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims (10)

1. A disaster monitoring, sensing and collecting method for power equipment is characterized by comprising the following steps:

the method comprises the steps that visual information of a power site is collected through a visual detector, and a plurality of three-dimensional images of the power site are generated; the visual detector comprises a visible light detector, an infrared detector and an ultraviolet detector;

processing the plurality of three-dimensional images to determine a device identifier corresponding to the power device contained in the three-dimensional image;

acquiring real-time operation data and historical operation data which are stored in a server and correspond to the equipment identification;

and displaying the real-time operation data and the historical operation data at corresponding positions in the three-dimensional image.

2. The method according to claim 1, wherein before the step of collecting visual information of the power site by a visual detector and generating a plurality of three-dimensional images of the power site, the method further comprises:

and acquiring the standard point cloud characteristics of each power device in the power field, and storing the mapping relation between the standard point cloud characteristics and the device identification of the corresponding power device.

3. The method according to claim 2, wherein the step of performing image processing on the three-dimensional image to determine a device identifier corresponding to the power device included in the three-dimensional image includes:

preprocessing the three-dimensional image to remove noise;

adjusting the three-dimensional image based on the standard point cloud information so that the visual angle of the three-dimensional image corresponds to the visual angle of the standard point cloud information;

and comparing the point cloud information of the power equipment contained in the three-dimensional image with the stored standard point cloud information to determine the standard point cloud information corresponding to the point cloud information of the power equipment, and acquiring an equipment identifier having a mapping relation with the standard point cloud information.

4. The method according to claim 1, wherein after the step of collecting visual information of the power site by a visual detector and generating a plurality of three-dimensional images of the power site, the method further comprises:

detecting whether continuity conditions are met among the multiple three-dimensional images;

when a continuity condition is not satisfied between the plurality of three-dimensional images, generating, by the vision detector, a supplementary three-dimensional image of the power site such that the continuity condition is satisfied between the supplementary three-dimensional image and the plurality of three-dimensional images.

5. The method for collecting disaster monitoring perception of power equipment according to claim 1, further comprising:

determining an operating condition of the electrical device based on visual features of the electrical device appearing in the three-dimensional image; the visual characteristics include temperature characteristics and representative needle indication characteristics.

6. The method for monitoring, perceiving and collecting the disaster of the power equipment according to claim 1, further comprising:

when the real-time operation data and the historical operation data corresponding to the electric power equipment cannot be acquired through the server, the real-time operation data corresponding to the electric power equipment is acquired in a wireless mode.

7. The method for monitoring, perceiving and collecting the disaster of the power equipment according to claim 1, further comprising:

determining an operating condition of the electrical equipment based on the real-time operating data and the historical operating data.

8. The utility model provides a power equipment's disaster and damage control perception collection system which characterized in that includes:

the image acquisition unit is used for acquiring visual information of a power site through a visual detector and generating a plurality of three-dimensional images of the power site; the visual detector comprises a visible light detector, an infrared detector and an ultraviolet detector;

the device identification unit is used for processing the three-dimensional images to determine a device identification corresponding to the power device contained in the three-dimensional images;

the data acquisition unit is used for acquiring real-time operation data and historical operation data which are stored in a server and correspond to the equipment identification;

and the fusion display unit is used for displaying the real-time operation data and the historical operation data at corresponding positions in the three-dimensional image.

9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 7 are implemented by the processor when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.

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