CN115390055A - Distribution network uninterrupted operation millimeter wave distance monitoring device and monitoring method thereof - Google Patents
Distribution network uninterrupted operation millimeter wave distance monitoring device and monitoring method thereof Download PDFInfo
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- 238000004364 calculation method Methods 0.000 claims description 5
- 238000007781 pre-processing Methods 0.000 claims description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention provides a millimeter wave distance monitoring device for distribution network uninterrupted operation and a monitoring method thereof, the device comprises a shell, a control panel, a power supply module and a receiving and transmitting antenna, wherein the control panel, the power supply module and the receiving and transmitting antenna are arranged in the shell, the control panel comprises a frequency mixer, a low-pass filter, an AD sampling module and a processor which are sequentially connected, a waveform generator connected with the frequency mixer and a communication module connected with the processor, the receiving and transmitting antenna comprises a transmitting antenna array and a receiving antenna array, the transmitting antenna array is connected with the waveform generator, the receiving antenna array is connected with the frequency mixer, the receiving and transmitting antenna is used for transmitting millimeter waves to a target and receiving a target reflection echo, the power supply module is connected with the control panel and is used for supplying power, and the communication module is connected with an alarm and is used for responding to alarm notification. The invention can identify and judge whether the two arms and the head of the human body are positioned outside the safe distance line, and can standardize the operation behavior of personnel by recording the moving speed and the overrun times of the target distance.
Description
Technical Field
The invention relates to the technical field of millimeter wave radars, in particular to a millimeter wave distance monitoring device and method for distribution network uninterrupted operation.
Background
The non-stop operation for the overhead line means an operation in which a field operator rides the insulating bucket of the insulating bucket and moves in the air to the vicinity of the overhead line to perform maintenance or the like on an overhead power cable. The method is characterized in that power failure is not needed in the operation process, the power supply reliability of a user is not influenced, the operation time is flexible, and all-weather operation can be realized.
In the overhead line operation process, after an operator wears the insulating protective tool, the insulating protective tool rises to a proper height along with the insulating bucket, and then the insulating rod is used for carrying out live working on a charged body near an operation area. In the insulating rod operation method, the insulating rod is used as main insulation between phases and the ground, and the insulating protective tool is used as auxiliary insulation. According to the provisions of national standard GB/T18857-2019 'technical guide rules for live-line work of distribution lines', when an insulating rod work method is adopted on the distribution lines, asking that the minimum safe distance (excluding the human body activity range) between a human body and a charged body is in accordance with the provisions of Table 1, namely within the altitude of 3000m, the minimum safe distance in 10kV work is not less than 0.4m; within the altitude of 1000m, the minimum safe distance in 20kV operation is not less than 0.5m.
At present, all be at present actual operation in-process subaerial the special observation commander that is equipped with, observe and judge the position region of operation personnel and its insulating fill motion of taking advantage of through the manpower naked eye, can't accurately master the regional scope of concrete operation position that does not have a power failure in real time, more can't judge the distance of operation personnel upper limbs and electrified body to can't guarantee that operation personnel and insulating fill of taking advantage of are in safe area, make the operation of not having a power failure have the potential safety hazard.
Disclosure of Invention
The invention aims to provide a millimeter wave distance monitoring device for distribution network uninterrupted operation and a monitoring method thereof, and solves the problem that the distance between an upper limb of an operator and a charged body cannot be accurately judged in the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a join in marriage net uninterrupted operation millimeter wave distance monitoring devices, demountable installation is on the three-phase cable, includes the casing, locates inside control panel, power module and the receiving and dispatching antenna of casing, the control panel is including consecutive mixer, low pass filter, AD sampling module and treater, and with the waveform generator that the mixer links to each other, and with communication module that the treater links to each other, the receiving and dispatching antenna includes transmitting antenna array and receiving antenna array, transmitting antenna array links to each other with waveform generator, receiving antenna array links to each other with the mixer, the receiving and dispatching antenna is used for launching the millimeter wave to the target, and receives the target reflection echo, power module links to each other with the control panel for the power supply, communication module is connected with the alarm for response alarm notice.
Preferably, the targets comprise targets A, B and C arranged on the two arms and the head of a human body, and the targets A, B and C are made of materials with different reflectivity.
Preferably, the connection mode between the monitoring device and the three-phase cable is a clamping type, a winding type or a clamping type.
The invention also provides a monitoring method of the distribution network uninterrupted operation millimeter wave distance monitoring device, which comprises the following steps: installing the monitoring device on the three-phase cable by using an insulating operating rod, and adjusting the monitoring device to be in a horizontal state; sending a linear frequency modulation continuous millimeter wave to the lower part of the three-phase cable, and receiving a reflection echo in real time, wherein the reflection echo comprises a human body echo signal, an insulation bucket echo signal and an environment echo signal; preprocessing the reflected echo and separating a human body echo signal from the preprocessed reflected echo; calculating a target distance and a corresponding echo direction angle according to the waveform characteristics of the human body echo signals; and obtaining the shortest distance between the target and the three-phase cable according to the target distance and the corresponding echo direction angle, and outputting an alarm notice if the shortest distance is less than a safe distance.
As a preferred scheme, the preprocessing the reflected echo includes: mixing the reflected echoes by a mixer, and processing the mixed echoes by a low-pass filter to obtain intermediate-frequency signals; performing AD sampling on the intermediate frequency signal, and performing inverse Fourier transform to obtain a time domain signal; and sequentially carrying out digital filtering processing, spatial multipath interference elimination and spatial noise processing on the time domain signal.
Preferably, the separating the human body echo signal from the human body echo signal includes: selecting a first threshold value according to the waveform characteristics of the environment echo signal; according to the first threshold value, filtering out the component of the processed reflection echo at the zero frequency to obtain a primary processing frequency spectrum; expanding the primary processing frequency spectrum to a two-dimensional plane, sequencing all reference points in a reference window of the two-dimensional plane, and selecting an average value of M points around a Kth value as a second threshold value; and filtering echo signal components of the insulation bucket according to the second threshold value to obtain a secondary processing frequency spectrum, namely a human body echo signal.
Preferably, the calculating process of the echo direction angle includes that if the human body echo signals received by the two antennas of the receiving antenna array are respectively mu 1 and mu 2, the phase difference between the two signals is phi, and the echo direction angle is theta, then the echo direction angle is theta
In the formula, delta is a difference channel of signals mu 1 and mu 2, sigma is a sum channel of the signals mu 1 and mu 2, j is a coefficient, phi is a phase difference of the signals mu 1 and mu 2, d is a distance between two antennas, lambda is a radar signal wavelength, and theta is an echo direction angle;
the calculation process of the target distance comprises the following steps:
in the above formula, R is the target distance, c is the light speed, and TR is the delay time.
Preferably, the obtaining the shortest distance between the target and the three-phase cable includes:
d i ＝R i sinθ,i＝1L n
d min ＝min(d i )
in the above formula, di is the vertical distance between the ith target and the three-phase cable, ri is the distance between the receiving antenna and the ith target, θ is the echo direction angle, n is the number of targets, and dmin is the shortest distance between the target and the three-phase cable.
Preferably, the targets A, B and C have a reflectivity of R A ＞R B ＞R C After the separation of the human body echo signal, the method further comprises: classifying and identifying each target of the human body echo signal, which specifically comprises the following steps: clustering the frame data of the human body echo signals based on a density clustering algorithm, and outputting a clustering result; and calculating the reflection peak value of each class of the clustering result, determining the class with the maximum reflection peak value as a target A, determining the class with the middle reflection peak value as a target B, and determining the class with the minimum reflection peak value as a target C.
Preferably, the method further comprises the following steps: acquiring beat signal frequency after the delay of the reflected echo, calculating the moving speed of various targets and recording; and determining the moving speed and the number of times of overrun of the shortest distance between the target and the three-phase cable according to the preset safe speed and the safe distance, and using the number of times of overrun to standardize the operation behaviors of personnel.
Compared with the prior art, the invention has the beneficial effects that: according to the waveform characteristics of the environment echo signal and the insulation bucket echo signal, a first threshold value and a second threshold value are selected, the human body echo signal is accurately separated, then the density clustering algorithm is adopted to classify and recognize the human body echo signal, whether the two arms and the head of the human body are positioned outside a safe distance line or not can be recognized and judged, and personnel operation behaviors can be standardized by recording the moving speed and the number of times of overrun of a target distance.
Drawings
The disclosure of the present invention is illustrated with reference to the accompanying drawings. It is to be understood that the drawings are designed solely for the purposes of illustration and not as a definition of the limits of the invention. In the drawings, like reference numerals are used to refer to like elements throughout. Wherein:
fig. 1 is an implementation environment diagram of a distribution network uninterrupted operation millimeter wave distance monitoring device according to an embodiment of the invention;
FIG. 2 is an enlarged partial schematic view of FIG. 1;
fig. 3 is a schematic structural diagram of a distribution network uninterrupted operation millimeter wave distance monitoring device according to an embodiment of the present invention.
Detailed Description
It is easily understood that according to the technical solution of the present invention, a person skilled in the art can propose various alternative structures and implementation ways without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as limiting or restricting the technical aspects of the present invention.
An embodiment according to the invention is shown in connection with fig. 1 to 3. The utility model provides a join in marriage net uninterrupted operation millimeter wave distance monitoring devices, demountable installation is on three-phase cable, which comprises a housin, locate the inside control panel of casing, power module and receiving and dispatching antenna, the control panel is including consecutive mixer, low pass filter, AD sampling module and treater, and the waveform generator who links to each other with the mixer, and the communication module who links to each other with the treater, receiving and dispatching antenna includes transmitting antenna array and receiving antenna array, transmitting antenna array links to each other with waveform generator, receiving antenna array links to each other with the mixer, receiving and dispatching antenna is used for transmitting the millimeter wave to the target, and the receiving target reflection echo, power module links to each other with the control panel, be used for the power supply, communication module is connected with alarm or display, be used for responding to the warning notice. Specifically, this monitoring devices passes through wireless modes such as bluetooth, wifi and alarm or display communication connection.
In the embodiment of the present invention, the targets include targets a, B and C disposed on both arms and head of the human body, and the targets a, B and C are made of materials with different reflectivity, for example, metal plates such as copper, iron, aluminum, nickel, etc. Therefore, the peaks appearing on the spectrogram of the reflected echoes are different, and various targets can be distinguished conveniently. The connection mode between the monitoring device and the three-phase cable is a buckle type, a winding type or a clamping type, so that the device is convenient to fix on different accessories.
The invention also provides a monitoring method of the distribution network uninterrupted operation millimeter wave distance monitoring device, which comprises the following steps:
(1) And the monitoring device is arranged on the three-phase cable by utilizing the insulating operating rod and is adjusted to be in a horizontal state. Specifically, a gyroscope and a rotating motor can be installed on the monitoring device, when monitoring is started, the control panel drives the rotating motor to move according to an angle signal of the gyroscope, the monitoring device is automatically adjusted to be in a horizontal state, and operation is convenient and fast.
(2) Sending linear frequency modulation continuous millimeter waves to the lower part of the three-phase cable, and receiving reflected echoes in real time, wherein the reflected echoes comprise human body echo signals, insulation bucket echo signals and environment echo signals.
(3) And preprocessing the reflected echo and separating a human body echo signal from the preprocessed reflected echo.
Wherein, the reflected echo is preprocessed, which comprises the following steps:
a. and mixing the reflected echoes by a mixer, and processing by a low-pass filter to obtain an intermediate-frequency signal.
b. And carrying out AD sampling on the intermediate frequency signal, and carrying out inverse Fourier transform to obtain a time domain signal.
c. And sequentially carrying out digital filtering processing, spatial multipath interference elimination and spatial noise processing on the time domain signal.
In the embodiment of the invention, the method for separating the human body echo signal comprises the following steps:
a. and selecting a first threshold value according to the waveform characteristics of the environment echo signal.
b. And according to the first threshold value, filtering out the component of the processed reflection echo at the zero frequency to obtain a primary processing frequency spectrum.
c. Expanding the primary processing frequency spectrum to a two-dimensional plane, sequencing all reference points in a reference window of the two-dimensional plane, and selecting an average value of M points around a K value as a second threshold value, wherein the K value is related to the waveform characteristics (such as power level or power spectral density) of the insulation bucket. The method can ensure the accuracy and stability of the threshold value, and finally improves the target detection capability.
d. And filtering echo signal components of the insulation bucket according to a second threshold value to obtain a secondary processing frequency spectrum, namely a human body echo signal.
Let the reflectivities of the objects A, B and C be R A ＞R B ＞R C After the human body echo signal is separated, the method further includes: classifying and identifying each target of the human body echo signal, which specifically comprises the following steps: clustering frame data of the human body echo signals based on a density clustering algorithm, and outputting a clustering result; and calculating the reflection peak value of each class of the clustering result, determining the class with the maximum reflection peak value as a target A, determining the class with the middle reflection peak value as a target B, and determining the class with the minimum reflection peak value as a target C.
The density clustering algorithm comprises the following steps: 1. if the epsilon neighborhood of a frame data point x in the human body echo signal contains redundant m objects, a new cluster taking x as a core object is created; 2. searching and combining the objects with the direct density of the core object; 3. when no new point can update the cluster, the algorithm ends.
(4) And calculating the target distance and the corresponding echo direction angle according to the waveform characteristics of the human body echo signals.
Specifically, the calculation process of the echo direction angle comprises the steps of setting human body echo signals received by two antennas of the receiving antenna array to be mu 1 and mu 2 respectively, setting the phase difference between the human body echo signals and the mu 2 to be phi, and setting the echo direction angle to be theta, then determining that the human body echo signals are not received by the two antennas of the receiving antenna array, and the phase difference is phi
In the formula, delta is a difference channel of signals mu 1 and mu 2, sigma is a sum channel of the signals mu 1 and mu 2, j is a coefficient, phi is a phase difference of the signals mu 1 and mu 2, d is a distance between two antennas, lambda is a radar signal wavelength, and theta is an echo direction angle;
the calculation process of the target distance comprises the following steps:
in the above formula, R is the target distance, c is the light speed, and TR is the delay time.
Obtaining a shortest distance between the target and the three-phase cable, comprising:
d i ＝R i sinθ,i＝1L n
d min ＝min(d i )
in the above formula, di is the vertical distance between the ith target and the three-phase cable, ri is the distance between the receiving antenna and the ith target, θ is the echo direction angle, n is the number of targets, and dmin is the shortest distance between the target and the three-phase cable.
(5) And obtaining the shortest distance between the target and the three-phase cable according to the target distance and the corresponding echo direction angle, and outputting an alarm notice if the shortest distance is less than the safe distance.
In an embodiment of the present invention, the monitoring method further includes: acquiring beat signal frequency after the delay of the reflected echo, calculating the moving speed of various targets and recording; and determining the moving speed and the number of times of overrun of the shortest distance between the target and the three-phase cable according to the preset safe speed and the safe distance, and using the number of times of overrun to standardize the operation behaviors of personnel. For example, an operator triggers an alarm 10 times in one operation process, and after the fact that the left arm of the operator exceeds a safe distance for 8 times, the right arm exceeds a safe distance for 2 times, and the moving speed of the left arm exceeds a preset safe speed for 25 times, it can be analyzed that the left arm of the operator frequently triggers the alarm due to too fast action, the moving speed of the arm is reduced when subsequent operations are recommended, the operation behaviors are standardized, the safety of the uninterrupted operation is improved, and the method has high practical training value.
In summary, the beneficial effects of the invention include: according to the waveform characteristics of the environment echo signal and the insulation bucket echo signal, a first threshold value and a second threshold value are selected, the human body echo signal is accurately separated, then the density clustering algorithm is adopted to classify and identify the human body echo signal, whether the two arms and the head of the human body are positioned outside a safety distance line or not can be identified and judged, the monitoring method can guarantee lower false alarm probability and lower omission probability, and the operation behavior of personnel can be standardized by recording the overrun times of the moving speed and the target distance.
The technical scope of the present invention is not limited to the above description, and those skilled in the art can make various changes and modifications to the above embodiments without departing from the technical spirit of the present invention, and such changes and modifications should fall within the protective scope of the present invention.
Claims (10)
1. The utility model provides a join in marriage net uninterrupted operation millimeter wave distance monitoring devices, demountable installation is on the three-phase cable, a serial communication port, including the casing, locate inside control panel, power module and the receiving and dispatching antenna of casing, the control panel is including consecutive mixer, low pass filter, AD sampling module and treater, and with the waveform generator that the mixer links to each other, and with the communication module that the treater links to each other, the receiving and dispatching antenna includes transmitting antenna array and receiving antenna array, transmitting antenna array links to each other with waveform generator, receiving antenna array links to each other with the mixer, receiving antenna array is used for launching the millimeter wave to the target, and receiving target reflection echo, power module links to each other with the control panel for the power supply, communication module is connected with the alarm for response alarm notice.
2. The distribution network uninterrupted operation millimeter wave distance monitoring device according to claim 1, wherein the targets comprise targets A, B and C arranged on both arms and head of a human body, and the targets A, B and C are made of materials with different reflectivities.
3. The distribution network uninterrupted operation millimeter wave distance monitoring device of claim 1, characterized in that the connection mode between the monitoring device and the three-phase cable is a snap-in type, a winding type or a clamping type.
4. A monitoring method of a distribution network uninterrupted operation millimeter wave distance monitoring device according to any one of claims 1 to 3, characterized by comprising the following steps:
installing the monitoring device on the three-phase cable by using an insulating operating rod, and adjusting the monitoring device to be in a horizontal state;
sending linear frequency modulation continuous millimeter waves to the lower part of the three-phase cable, and receiving reflected echoes in real time, wherein the reflected echoes comprise human body echo signals, insulation bucket echo signals and environment echo signals;
preprocessing the reflected echo and separating a human body echo signal from the preprocessed reflected echo;
calculating a target distance and a corresponding echo direction angle according to the waveform characteristics of the human body echo signals;
and obtaining the shortest distance between the target and the three-phase cable according to the target distance and the corresponding echo direction angle, and outputting an alarm notice if the shortest distance is less than a safe distance.
5. The monitoring method of the distribution network uninterrupted operation millimeter wave distance monitoring device according to claim 4, wherein the preprocessing the reflection echo comprises:
mixing the reflected echoes by a mixer, and processing the mixed echoes by a low-pass filter to obtain intermediate-frequency signals;
performing AD sampling on the intermediate frequency signal, and performing inverse Fourier transform to obtain a time domain signal;
and sequentially carrying out digital filtering processing, spatial multipath interference elimination and spatial noise processing on the time domain signal.
6. The monitoring method of the distribution network uninterrupted operation millimeter wave distance monitoring device according to claim 4, wherein the separating of the human body echo signal therefrom comprises:
selecting a first threshold value according to the waveform characteristics of the environment echo signal;
according to the first threshold value, filtering out the component of the processed reflection echo at the zero frequency to obtain a primary processing frequency spectrum;
expanding the primary processing frequency spectrum to a two-dimensional plane, sequencing all reference points in a reference window of the two-dimensional plane, and selecting an average value of M points around a Kth value as a second threshold value;
and filtering echo signal components of the insulation bucket according to the second threshold value to obtain a secondary processing frequency spectrum, namely a human body echo signal.
7. The monitoring method of the distribution network uninterrupted operation millimeter wave distance monitoring device according to claim 4, wherein the calculation process of the echo direction angle comprises the following steps:
if the human body echo signals received by the two antennas of the receiving antenna array are respectively mu 1 and mu 2, the phase difference between the two is phi, and the echo direction angle is theta, then
In the formula, delta is a difference channel of signals mu 1 and mu 2, sigma is a sum channel of the signals mu 1 and mu 2, j is a coefficient, phi is a phase difference of the signals mu 1 and mu 2, d is a distance between two antennas, lambda is a radar signal wavelength, and theta is an echo direction angle;
the calculation process of the target distance comprises the following steps:
in the above formula, R is the target distance, c is the speed of light, and TR is the delay time.
8. The monitoring method of the distribution network uninterrupted operation millimeter wave distance monitoring device according to claim 7, wherein the obtaining the shortest distance between the target and the three-phase cable comprises:
d i ＝R i sinθ,i＝1L n
d min ＝min(d i )
in the above formula, di is the vertical distance between the ith target and the three-phase cable, ri is the distance between the receiving antenna and the ith target, θ is the echo direction angle, n is the number of targets, and dmin is the shortest distance between the targets and the three-phase cable.
9. The arrangement of claim 4The monitoring method of the millimeter wave distance monitoring device for the uninterrupted power grid operation is characterized in that the reflectivity of the targets A, B and C is R A ＞R B ＞R C After the separation of the human body echo signal, the method further comprises: classifying and identifying each target of the human body echo signal, specifically:
clustering the frame data of the human body echo signals based on a density clustering algorithm, and outputting a clustering result;
and calculating the reflection peak value of each class of the clustering result, determining the class with the maximum reflection peak value as a target A, determining the class with the middle reflection peak value as a target B, and determining the class with the minimum reflection peak value as a target C.
10. The monitoring method of the distribution network uninterrupted operation millimeter wave distance monitoring device according to claim 4, characterized by further comprising:
acquiring beat signal frequency after the delay of the reflected echo, calculating the moving speed of various targets and recording;
and determining the moving speed and the number of times of overrun of the shortest distance between the target and the three-phase cable according to the preset safe speed and the safe distance, and using the number of times of overrun to standardize the operation behaviors of personnel.
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