CN114021599A - System and method for identifying potential safety hazard of power tower - Google Patents

Abstract

The invention discloses a system and a method for identifying potential safety hazards of a power tower, wherein the system comprises an edge computing terminal, a relay terminal, pose detection equipment and a monitoring station; the pose detection equipment is arranged on the electric power tower body, is used for detecting the inclination state of the electric power tower, and is respectively in communication connection with the Beidou satellite and the relay terminal; the relay terminal is arranged on the power tower body and used for collecting pose signals of pose detection equipment and is in communication connection with the edge computing terminal; the edge computing terminal receives and processes detection information of all pose detection equipment in the detection management domain, and is in communication connection with the monitoring station; and the monitoring station is used for collecting information of all edge computing terminals, analyzing, processing and judging the danger coefficient of the power tower and generating an emergency instruction. The inclination of the electric tower is judged by acquiring the angle change value between the pose sensors arranged on the tower body of the electric tower, and an exclusive channel for information transmission is established, so that the information congestion is avoided, and the online detection and early warning of the inclination state of the electric tower are realized.

Description

System and method for identifying potential safety hazard of power tower

Technical Field

The invention relates to the technical field of power transmission line maintenance, in particular to a system and a method for identifying potential safety hazards of a power tower.

Background

China is wide in geographical distribution and complex and diverse in geological conditions, and under the action of natural environment and external conditions, such as trample areas (abandoned space after coal mining), hurricane and heavy icing extreme meteorological areas, the tower foundation often has the phenomena of slippage, inclination, settlement, cracking and the like, so that the tower deformation or inclination is caused. The tower inclination belongs to a typical invisible fault, and in the initial development stage of the tower inclination phenomenon, a line patrol worker can hardly observe the tiny change of the tower inclination phenomenon with naked eyes. When it is found that it is settled, the transmission line is already in a dangerous state. The tower inclination monitoring device is arranged, so that the deformation and the inclination of the tower can be found, the generation and development characteristics of the tower can be found, the early tower change can be mastered in time, the development degree of the tower can be foreseen, corresponding measures can be taken in time, and the safe operation of a line can be ensured. At present, the inclination measuring method of the line tower mainly comprises a plumb method, a theodolite method, a plane mirror method and a ground laser measuring method, and the traditional method depends on people to carry out on-site survey, so that the time consumption is long, and the efficiency is low; with the development of sensor technology and communication technology, all-weather electric tower monitoring can be realized by transmitting data acquired by a sensor through a communication network, however, the environment of a power transmission line is variable, the number of electric towers is large, and the data acquisition, transmission and management face a lot of difficulties.

Disclosure of Invention

The invention aims to provide a system and a method for identifying potential safety hazard of an electric power tower, which are characterized in that an angle change value between pose sensors arranged on a tower body of the electric power tower is obtained through a satellite positioning technology, the inclination of the electric power tower is judged through the angle change value, a dedicated channel for information transmission is established, the high efficiency and the singleness of data transmission are ensured, the information congestion phenomenon is avoided, the management is convenient, and the online detection and early warning of the inclination state of the electric power tower are realized.

In order to achieve the technical purpose, the invention provides a technical scheme that the potential safety hazard identification system of the power tower comprises an edge calculation terminal, a relay terminal, pose detection equipment and a monitoring station;

the pose detection equipment is arranged on the electric power tower body, is used for detecting the inclination state of the electric power tower, and is respectively in communication connection with the Beidou satellite and the relay terminal;

the relay terminal is arranged on the power tower body and used for collecting pose signals of pose detection equipment and is in communication connection with the edge computing terminal; the edge computing terminal receives and processes detection information of all pose detection equipment in the detection management domain, and is in communication connection with the monitoring station; and the monitoring station is used for collecting information of all edge computing terminals, analyzing, processing and judging the danger coefficient of the power tower and generating an emergency instruction.

In the scheme, an edge computing terminal establishes communication with a plurality of relay terminals in a management domain, a pose detection device acquires high-precision geometric coordinate information through a Beidou satellite, the relay terminals acquire pose information of the pose detection device, the pose information is packaged and encrypted and then is sent to the edge computing terminal, the edge computing terminal calculates the pose information, then preliminarily judges whether the pose information is iron tower inclination hidden danger information or not, if the pose information is hidden danger information, a calculated pose signal is sent to a monitoring station through a dedicated channel, the monitoring station judges the inclination angle and the direction of an electric tower according to a three-dimensional electric tower model and formulates a maintenance strategy, wherein the three-dimensional electric tower model is used as an established model on a three-dimensional virtual map when technicians build the iron tower in the previous period, the model is manufactured based on UG or SOLIDworks and other three-dimensional drawing software, and by inputting the relative positions and the angle deviations of three fixed points, the actual inclination of the power tower model can be obtained, and whether the power tower is in danger or not is judged according to the inclination.

Preferably, the pose detection equipment comprises a first pose sensor, a second pose sensor and a third pose sensor which are installed on the electric tower body, wherein the installation points of the first pose sensor, the second pose sensor and the third pose sensor form a right-angled triangle on the plane, and the initial angle of the right-angled triangle is alpha₀、β₀And gamma₀In which α is₀＝90°，β₀+γ₀＝α₀。

In the scheme, the first position and posture sensor is arranged on a base of the electric tower and does not change position along with the inclination of a tower body, the second position and posture sensor is arranged right above the first position and posture sensor, the third position and posture sensor and the second position and posture sensor are horizontally arranged, connecting lines among mounting points of the three position and posture sensors are right-angled triangles, when an iron tower inclines, the second position and posture sensor and the third position and posture sensor can change position along with the inclination of the tower body, three included angles in the triangles also change accordingly, deviation values between the three included angles and initial angles can be obtained, an angle deviation threshold value is set and compared with the angle deviation value, and whether the electric tower has the potential inclination hazard can be preliminarily judged.

Preferably, the relay terminal comprises an information storage unit and a wireless transmission unit, wherein the information storage unit is used for storing the first position and posture sensor, the second position and posture sensor and the third position and posture sensor, and the position and posture signals of the first position and posture sensor, the second position and posture sensor and the third position and posture sensor are stored according to the sensor number in a position mode, packaged into a position and posture information block and transmitted to the edge computing terminal through the wireless transmission unit after being asymmetrically encrypted.

Preferably, the edge calculation terminal comprises a decoding unit for decoding the pose information block, a travel calculation unit for calculating the relative distance between the three pose sensors, an angle calculation unit for calculating the included angle between the three pose sensors according to the relative distance, and an early warning unit for judging the danger according to the angle deviation; the early warning unit is provided with an initial angle and an angle variation threshold, and the danger of the power tower is judged according to the comparison of the angle variation and the angle deviation threshold.

Preferably, the first position sensor, the second position sensor and the third position sensor are all GNSS receivers which are differentially positioned with respect to the received satellite navigation signal entries. The three antennas are used for receiving satellite navigation signals, and the high-precision differential positioning of satellite navigation is utilized to realize the geometric high-precision positioning within mm.

A method for identifying potential safety hazards of a power tower comprises the following steps:

s1, sequentially establishing communication connection with the pose detection equipment, the edge calculation terminal, the relay terminal and the monitoring station, wherein the edge calculation terminal is provided with a dedicated channel for information receiving and sending according to the relative distance between the relay terminal and the edge calculation terminal in the management domain;

s2, the edge calculator acquires pose information blocks in a storage unit of the relay terminal according to periods, and acquires the geometric coordinate information of the three corresponding pose sensors through a decoding unit;

s3, calculating the relative distance between the three position sensors through a stroke calculation unit; the geometric coordinates of the three position sensors are known, the spatial positions of the three position sensors are fixed, the geometric Euclidean distances of the three position sensors are calculated to obtain three sides of the triangle, and the sizes of three inner angles of the triangle can be determined according to the three side lengths a, b and c of the triangle;

s4, calculating included angles alpha between the three pose sensors through an angle calculation unit₁、β₁And gamma₁And the angle variation delta alpha, delta beta and delta gamma of each included angle; Δ α ═ α₁-α₀|，Δβ＝|β₁-β₀|，Δγ＝|γ₁-γ₀|；

S5, the early warning unit compares the angle variation delta alpha, delta beta and delta gamma with a set angle variation threshold value x to determine whether to send the angle variation threshold value x to a monitoring station for early warning; if x is less than or equal to mix (delta alpha, delta beta and delta gamma), judging that the electric iron tower is in danger, and executing S6; otherwise, no early warning is carried out; if the variable quantity of a certain angle exceeds a threshold value, whether the power tower has a potential inclination hazard can be preliminarily judged; as a trigger condition for sending the pose signal to the monitoring station, the analysis and management capacity of the monitoring station on a large amount of non-hidden-trouble data is reduced, and data redundancy is prevented;

and S6, the edge computing terminal sends the resolved pose signal to a monitoring station through a dedicated channel, and the monitoring station judges the inclination angle and the direction of the power tower according to the three-dimensional power tower model and formulates a maintenance strategy.

Preferably, the dedicated channel setting method includes the steps of:

setting n carrier frequency bands from large to small according to the communication frequency range of communication equipment used among the edge computing terminal, the relay terminal and the monitoring station; n relay terminals are arranged in the management domain;

and distributing the carrier frequency band according to the relative distance between the relay terminal and the edge calculation terminal from large to small.

Preferably, the formula for the angle calculation unit to calculate the included angles between the three pose sensors is as follows:

wherein a is the relative distance between the first position and attitude sensor and the second position and attitude sensor; b is the relative distance between the first position sensor and the third position sensor; and c is the relative distance between the second position sensor and the third position sensor.

The invention has the beneficial effects that: according to the power tower potential safety hazard identification system and method, the angle change value between the pose sensors arranged on the power tower body is obtained through the satellite positioning technology, the potential inclination hazard of the power tower is preliminarily judged through the angle change value, the analysis and management capacity of a monitoring station on a large amount of non-potential-hazard data is reduced, data redundancy is prevented, a dedicated channel for information transmission is established, the high efficiency and the singleness of data transmission are guaranteed, the information congestion phenomenon is avoided, the management is convenient, and the online detection and early warning of the inclination state of the power tower are realized.

Drawings

Fig. 1 is a schematic structural diagram of an electric power tower potential safety hazard identification system according to the present invention.

Fig. 2 is a flowchart of a method for identifying a potential safety hazard of an electric power tower according to the present invention.

The notation in the figure is: the system comprises a monitoring station 1, an edge calculation terminal 2, a relay terminal 3, a pose detection device 4 and a Beidou satellite 5.

Detailed Description

For the purpose of better understanding the objects, technical solutions and advantages of the present invention, the following detailed description of the present invention with reference to the accompanying drawings and examples should be understood that the specific embodiment described herein is only a preferred embodiment of the present invention, and is only used for explaining the present invention, and not for limiting the scope of the present invention, and all other embodiments obtained by a person of ordinary skill in the art without making creative efforts shall fall within the scope of the present invention.

Example (b): as shown in fig. 1, a schematic structural diagram of an electric power tower potential safety hazard identification system is composed of a plurality of edge computing terminals 2, a plurality of relay terminals 3 in an edge computing terminal management domain, a pose detection device 4 connected with the relay terminals, and a monitoring station 1;

the pose detection equipment is arranged on the electric power tower body, is used for detecting the inclination state of the electric power tower, and is respectively in communication connection with the Beidou satellite 5 and the relay terminal;

the relay terminal is arranged on the power tower body and used for collecting pose signals of pose detection equipment and is in communication connection with the edge computing terminal; the edge computing terminal receives and processes detection information of all pose detection equipment in the detection management domain, and is in communication connection with the monitoring station; and the monitoring station is used for collecting information of all edge computing terminals, analyzing, processing and judging the danger coefficient of the power tower and generating an emergency instruction.

In the embodiment, the edge computing terminal establishes communication with a plurality of relay terminals in a management domain, the pose detection equipment acquires high-precision geometric coordinate information through a Beidou satellite, the relay terminals acquire the pose information of the pose detection equipment, the pose information is packaged and encrypted and then is sent to the edge computing terminal, the edge computing terminal calculates the pose information, then preliminarily judges whether the pose information is iron tower inclination hidden danger information or not, if the pose information is hidden danger information, a calculated pose signal is sent to a monitoring station through a dedicated channel, the monitoring station judges the inclination angle and the direction of an electric tower according to a three-dimensional electric tower model and formulates a maintenance strategy, wherein the three-dimensional electric tower model is used as an established model on a three-dimensional virtual map when technicians build the iron tower in the prior period, is manufactured based on UG or SOLIDworks and other three-dimensional drawing software, and is manufactured by inputting the relative positions and the angle deviations of three fixed points, the actual inclination of the power tower model can be obtained, and whether the power tower is in danger or not is judged according to the inclination.

The pose detection equipment comprises a first pose sensor, a second pose sensor and a third pose sensor which are arranged on the electric tower body, wherein the installation points of the first pose sensor, the second pose sensor and the third pose sensor form a right-angled triangle on the plane, and the initial angle of the right-angled triangle is alpha₀、β₀And gamma₀In which α is₀＝90°，β₀+γ₀＝α₀。

In this embodiment, the first attitude sensor is disposed on a base of the electric tower, and does not change position with the inclination of the tower body, the second attitude sensor is disposed directly above the first attitude sensor, and the third attitude sensor and the second attitude sensor are horizontally disposed, so that connection lines between mounting points of the three attitude sensors are right triangles.

The relay terminal comprises an information storage unit and a wireless transmission unit, wherein the information storage unit is used for storing the first position and posture sensor, the second position and posture sensor and the third position and posture sensor, position and posture signals of the first position and posture sensor, the second position and posture sensor and the third position and posture sensor are stored according to the sensor number in a position mode and packaged into position and posture information blocks, and the position and posture information blocks are transmitted to the edge computing terminal through the wireless transmission unit after being asymmetrically encrypted.

The edge calculation terminal comprises a decoding unit for decoding pose information blocks, a travel calculation unit for calculating relative distances among the three pose sensors, an angle calculation unit for calculating included angles according to the relative distances, and an early warning unit for judging crisis according to angle deviation; the early warning unit is provided with an initial angle and an angle variation threshold, and the danger of the power tower is judged according to the comparison of the angle variation and the angle deviation threshold.

The first position sensor, the second position sensor and the third position sensor are all GNSS receivers which are differentially positioned with the received satellite navigation signal entries. The three antennas are used for receiving satellite navigation signals, and the high-precision differential positioning of satellite navigation is utilized to realize the geometric high-precision positioning within mm.

As shown in fig. 2, a method for identifying potential safety hazards of an electric power tower includes the following steps:

s1, sequentially establishing communication connection with the pose detection equipment, the edge calculation terminal, the relay terminal and the monitoring station, wherein the edge calculation terminal is provided with a dedicated channel for information receiving and sending according to the relative distance between the relay terminal and the edge calculation terminal in the management domain;

s2, the edge calculator acquires pose information blocks in a storage unit of the relay terminal according to periods, and acquires the geometric coordinate information of the three corresponding pose sensors through a decoding unit;

s3, calculating the relative distance between the three position sensors through a stroke calculation unit; the geometric coordinates of the three position sensors are known, the spatial positions of the three position sensors are fixed, the geometric Euclidean distances of the three position sensors are calculated to obtain three sides of the triangle, and the sizes of three inner angles of the triangle can be determined according to the three side lengths a, b and c of the triangle;

s4, calculating included angles alpha between the three pose sensors through an angle calculation unit₁、β₁And gamma₁And the angle variation delta alpha, delta beta and delta gamma of each included angle; Δ α ═ α₁-α₀|，Δβ＝|β₁-β₀|，Δγ＝|γ₁-γ₀|；

S5, the early warning unit compares the angle variation delta alpha, delta beta and delta gamma with a set angle variation threshold value x to determine whether to send the angle variation threshold value x to a monitoring station for early warning; if x is less than or equal to mix (delta alpha, delta beta and delta gamma), judging that the electric iron tower is in danger, and executing S6; otherwise, no early warning is carried out; if the variable quantity of a certain angle exceeds a threshold value, whether the power tower has a potential inclination hazard can be preliminarily judged; as a trigger condition for sending the pose signal to the monitoring station, the analysis and management capacity of the monitoring station on a large amount of non-hidden-trouble data is reduced, and data redundancy is prevented;

s6, the edge computing terminal sends the resolved pose signal to a monitoring station through a dedicated channel, and the monitoring station judges the inclination angle and the direction of the power tower according to the three-dimensional power tower model and formulates a maintenance strategy; the maintenance strategy comprises: and informing patrol personnel of site survey, making power tower correction measures, judging whether power failure protection is needed or not and a specific maintenance tool.

The exclusive channel setting method comprises the following steps:

setting n carrier frequency bands from large to small according to the communication frequency range of communication equipment used among the edge computing terminal, the relay terminal and the monitoring station; n relay terminals are arranged in the management domain;

and distributing the carrier frequency band according to the relative distance between the relay terminal and the edge calculation terminal from large to small.

The formula for the angle calculation unit to calculate the included angles between the three pose sensors is as follows:

wherein a is the relative distance between the first position and attitude sensor and the second position and attitude sensor; b is the relative distance between the first position sensor and the third position sensor; and c is the relative distance between the second position sensor and the third position sensor.

The above-mentioned embodiments are preferred embodiments of the power tower safety hazard identification system and method of the present invention, and the scope of the present invention is not limited thereto, and the present invention includes and is not limited to the embodiments, and all equivalent changes in shape and structure according to the present invention are within the scope of the present invention.

Claims (8)

1. The utility model provides an electric power tower potential safety hazard identification system which characterized in that:

the system comprises an edge calculation terminal, a relay terminal, pose detection equipment and a monitoring station;

the pose detection equipment is arranged on the electric power tower body, is used for detecting the inclination state of the electric power tower, and is respectively in communication connection with the Beidou satellite and the relay terminal;

the relay terminal is arranged on the power tower body and used for collecting pose signals of pose detection equipment and is in communication connection with the edge computing terminal;

the edge computing terminal receives and processes detection information of all pose detection equipment in the detection management domain, and is in communication connection with the monitoring station;

and the monitoring station is used for collecting information of all edge computing terminals, analyzing, processing and judging the danger coefficient of the power tower and generating an emergency instruction.

2. The power tower potential safety hazard identification system of claim 1, wherein:

the pose detection equipment comprises a first pose sensor, a second pose sensor and a third pose sensor which are arranged on the electric tower body, wherein the installation points of the first pose sensor, the second pose sensor and the third pose sensor form a right-angled triangle on the plane, and the initial angle of the right-angled triangle is alpha₀、β₀And gamma₀In which α is₀＝90°，β₀+γ₀＝α₀。

3. The power tower potential safety hazard identification system of claim 2, wherein:

the relay terminal comprises an information storage unit and a wireless transmission unit, wherein the information storage unit is used for storing the first position and posture sensor, the second position and posture sensor and the third position and posture sensor, position and posture signals of the first position and posture sensor, the second position and posture sensor and the third position and posture sensor are stored according to the sensor number in a position mode and packaged into position and posture information blocks, and the position and posture information blocks are transmitted to the edge computing terminal through the wireless transmission unit after being asymmetrically encrypted.

4. The power tower potential safety hazard identification system according to claim 2 or 3, wherein:

the edge calculation terminal comprises a decoding unit for decoding pose information blocks, a travel calculation unit for calculating relative distances among the three pose sensors, an angle calculation unit for calculating included angles according to the relative distances, and an early warning unit for judging crisis according to angle deviation; the early warning unit is provided with an initial angle and an angle variation threshold, and the danger of the power tower is judged according to the comparison of the angle variation and the angle deviation threshold.

5. The system and the method for identifying the potential safety hazard of the power tower as claimed in claim 2 or 3, wherein: the first position and posture sensor, the second position and posture sensor and the third position and posture sensor are all GNSS receivers which are differentially positioned with the received satellite navigation signal entries.

6. A method for identifying potential safety hazards of a power tower is characterized by comprising the following steps: the method comprises the following steps:

s1, sequentially establishing communication connection with the pose detection equipment, the edge calculation terminal, the relay terminal and the monitoring station, wherein the edge calculation terminal is provided with a dedicated channel for information receiving and sending according to the relative distance between the relay terminal and the edge calculation terminal in the management domain;

s2, the edge calculator acquires pose information blocks in a storage unit of the relay terminal according to periods, and the decoding unit acquires the position information of the corresponding three pose sensors;

s3, calculating the relative distance between the three position sensors through a stroke calculation unit;

s4, calculating included angles alpha between the three pose sensors through an angle calculation unit₁、β₁And gamma₁And the angle variation delta alpha, delta beta and delta gamma of each included angle;

s5, the early warning unit compares the angle variation delta alpha, delta beta and delta gamma with a set angle variation threshold value x to determine whether to send the angle variation threshold value x to a monitoring station for early warning; if x is less than or equal to mix (delta alpha, delta beta and delta gamma), judging that the electric iron tower is in danger, and executing S6; otherwise, no early warning is carried out;

and S6, the edge computing terminal sends the resolved pose signal to a monitoring station through a dedicated channel, and the monitoring station judges the inclination angle and the direction of the power tower according to the three-dimensional power tower model and formulates a maintenance strategy.

7. The method for identifying the potential safety hazard of the power tower as claimed in claim 6, wherein: the exclusive channel setting method comprises the following steps:

setting n carrier frequency bands from large to small according to the communication frequency range of communication equipment used among the edge computing terminal, the relay terminal and the monitoring station; n relay terminals are arranged in the management domain;

and distributing the carrier frequency band according to the relative distance between the relay terminal and the edge calculation terminal from large to small.

8. The method for identifying the potential safety hazard of the power tower as claimed in claim 6, wherein: the formula for the angle calculation unit to calculate the included angles between the three pose sensors is as follows:

wherein a is the relative distance between the first position and attitude sensor and the second position and attitude sensor; b is the relative distance between the first position sensor and the third position sensor; and c is the relative distance between the second position sensor and the third position sensor.

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