CN108074280B - Method for simulating moving track of hanging basket in equipotential live working of high-voltage transmission line - Google Patents
Method for simulating moving track of hanging basket in equipotential live working of high-voltage transmission line Download PDFInfo
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Abstract
本发明公开了一种高压输电线路等电位带电作业模拟吊篮移动轨迹的方法，包括以下步骤：首先将吊篮放置在三维实景平台中导线的上方，该放置位置定义为起始点，起始点与预先设置在模拟杆塔掉臂上的焦点之间的距离定义为带电作业的弧半径R；然后每次给吊篮运动传递1弧度θ的偏移量，根据圆的参数方程即可算出一个相对的位移点(x，y)值，通过三维引擎技术将该二维空间坐标转化为三维空间坐标即停止点；最后将计算出的若干个位移点连接即得出吊篮的模拟移动轨迹。本发明提供了方便、精确的最小安全距离的计算方法，为带电作业吊篮法进入模拟提供了数据处理手段，有效提高了高压输电线路等电位带电作业的安全水平。
The invention discloses a method for simulating the moving trajectory of a gondola during an equipotential live operation of a high-voltage transmission line. The method includes the following steps: firstly, placing the gondola above a wire in a three-dimensional reality platform, the placement position is defined as a starting point, and the starting point and The distance between the focal points preset on the simulated tower drop arm is defined as the arc radius R of the live operation; then an offset of 1 radian θ is passed to the movement of the gondola each time, according to the parametric equation of the circle, a relative The displacement point (x, y) value is converted into a three-dimensional space coordinate, that is, the stop point, through the three-dimensional engine technology; finally, the simulated movement trajectory of the gondola is obtained by connecting several calculated displacement points. The invention provides a convenient and accurate calculation method of the minimum safety distance, provides a data processing means for the live work gondola method entering simulation, and effectively improves the safety level of the equipotential live work of the high-voltage transmission line.
Description
Technical Field
The invention relates to the technical field of power grid operation, in particular to a method for simulating a moving track of a hanging basket in equipotential live working of a high-voltage power transmission line.
Background
The operation, maintenance, overhaul and other work of the power transmission line are important means for mastering the operation condition of the power grid and timely discovering and processing equipment defects, and are also basic work for ensuring the safe and stable operation of the line. Because the high-voltage power grid is in an important position in the operation of the power grid of the whole country, the operation and maintenance work of the high-voltage power transmission line has very important significance for ensuring the safe, stable and reliable operation of the power grid.
Live working is an operation method for overhauling and testing on high-voltage electrical equipment without power failure. The hot-line work repair tool has high technical content, one common repair needs to take 3-4 hours, the hot-line work can be completed in one hour, the labor and the material resources can be effectively saved, the repair time is shortened, and the influence on the life of residents is minimized. However, the risk of live working is high, and the requirement for the technical ability of the inspection personnel is high.
At present, high-voltage live working is carried out by swinging a hanging basket method from a tower to an operating point. When the hanging basket method is operated, equipotential operators are swung into an electric field through the pulley block and the positioning control rope, and the safety of the operators is ensured through the fact that the combined air gap between the electrified body and the human body as well as the grounding body is larger than the radius of the safety arc.
The live working safety distance comprises a live working minimum electric gap and a human body allowable movement range. In the IEC standard, the minimum electrical clearance refers to the minimum combined distance that a live working operating point can prevent electrical breakdown from occurring. The minimum combined gap is the sum of the distances that the human body should maintain to the grounding body and to the charged body when the operator in the working gap is in the lowest 50% operating impulse discharge voltage position. If the combined gap is less than the safety distance when a person enters, there is a risk of high voltage electrical breakdown. However, when the combined gap value of the hanging basket in the swinging process can not be controlled by directly operating on the tower.
Therefore, a method for simulating the moving track of the hanging basket in the equipotential live working of the high-voltage transmission line is not available, so that the section of air gap which can cause the discharge to the human body is determined, and the guidance is provided for the actual live working process.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for simulating the moving track of a hanging basket in equipotential live working of a high-voltage power transmission line, which can effectively improve the safety level of the equipotential live working of the high-voltage power transmission line.
In order to solve the technical problems, the invention adopts a technical scheme that: the method for simulating the moving track of the hanging basket in the equipotential live working of the high-voltage transmission line comprises the following steps:
firstly, placing a hanging basket above a conducting wire in a three-dimensional live-action platform, wherein the placing position is defined as an initial point, and the distance between the initial point and a focus preset on a falling arm of a simulation tower is defined as an arc radius R of live-wire work;
then, transmitting the offset of 1 radian theta to the basket movement every time, calculating a relative displacement point (x, y) value according to a parameter equation of a circle, and converting the two-dimensional space coordinate into a three-dimensional space coordinate, namely a stop point, by a three-dimensional engine technology;
and finally, connecting the calculated displacement points to obtain the simulated moving track of the hanging basket.
In a preferred embodiment of the present invention, the simulated moving trajectory meets the requirement of minimum safe distance for live-wire work, and the calculation formula of the minimum safe distance is
S＝min(S1，S2)+S3，
Wherein S1 is the vertical distance between the hanging basket and the falling arm of the simulation tower, S2 is the horizontal distance between the stopping point and the nearest steel frame structure of the simulation tower, and S3 is the distance between the hanging basket and the nearest insulator below the suspension arm.
In a preferred embodiment of the invention, the focus preset on the falling arm of the simulation tower is positioned according to the requirements of customers.
In a preferred embodiment of the invention, the method for building the three-dimensional live-action platform adopts a three-dimensional engine technology, uses OpenGL for rendering, adopts java as a logic realization language, adopts java fx for constructing an interface framework, and adopts a BIHTree scene structure for dividing a scene into a plurality of bounding volumes.
The invention has the beneficial effects that: the method for simulating the moving track of the hanging basket provides a convenient and accurate calculation method of the minimum safe distance, provides a data processing means for the hot-line work hanging basket method to enter the simulation, ensures that hot-line work maintainers can simulate the work through the three-dimensional live-action platform, provides a deduction reference for the actual work, and effectively improves the safety level of the equipotential hot-line work of the high-voltage transmission line.
Drawings
FIG. 1 is a flow chart of a method for simulating a moving track of a hanging basket in equipotential live working of a high-voltage transmission line according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a portion of a preferred embodiment of an equipotential hot-line work basket entering simulation system display interface of the high-voltage transmission line;
the parts in the drawings are numbered as follows: 1. a hanging basket, 2, a focus, 3, an insulator, 4, a lead, 5, a tower body, 6 and a safety rope.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
The invention discloses a method for simulating a moving track of a hanging basket in equipotential operation of a high-voltage transmission line, which relates to a hanging basket method entering simulation system and mainly comprises the following steps:
the simulation process module simulates the moving track of the hanging basket and displays the moving track in a three-dimensional scene by building a three-dimensional live-action platform of the high-voltage transmission line;
the distance calculation module is used for calculating a combined gap in the process of moving the hanging basket;
the information display module displays a combined gap value in a three-dimensional scene when the hanging basket stops moving;
and the simulation operation module is used for carrying out screen recording, screen capturing, playback, storage and loading operations on the hanging basket method simulation scheme.
The method for simulating the moving track of the hanging basket by entering the simulation system by using the hanging basket method comprises the following specific steps:
step S1: by building a three-dimensional live-action platform of the high-voltage transmission line, the moving track of the hanging basket 1 is simulated and displayed in a three-dimensional scene, and the method comprises the following steps:
s1.1: carrying out three-dimensional modeling according to the actual condition of the high-voltage transmission line, and building a three-dimensional live-action platform of the high-voltage transmission line;
according to the actual situation of the high-voltage transmission line, Information such as laser point cloud, a real-scene Model, oblique photography, an aerial orthophoto image, a panoramic image, a Geographic Information System (GIS), a Digital Elevation Model (DEM) and the like is fused, three-dimensional modeling is carried out on a tower, an insulator, a wire and the like, a solid Model is formed according to the proportion of 1:1, a 3D platform is fused to form a three-dimensional visual file, and the real-scene Model is finally formed.
The method for building the three-dimensional live-action platform of the high-voltage transmission line comprises the steps of adopting a three-dimensional engine technology, using OpenGL for rendering, adopting java as a logic realization language, adopting java fx for building an interface framework, and adopting a BIHTree scene structure for dividing a scene into a plurality of bounding volumes.
S1.2: selecting a tower for simulating live-wire work on the high-voltage transmission line by referring to the displayed tower number based on the three-dimensional live-action platform;
after entering the live working function, a left mouse button in the three-dimensional scene clicks to select a tower, the number of the selected live working tower is displayed in the live working of the information list, and other towers can be clicked in the three-dimensional scene to switch the live working towers. The simulated live-work information in the scene is also displayed in the "live-work" list of the information list.
The method for clicking the tower adopts a ray Pick technology and is combined with a BIHTree scene structure of an engine, otherwise, the efficiency is low due to traversing the scene, the BIHTree divides the scene into a plurality of bounding volumes, collision is carried out with the bounding volume closest to a transmitting line, the bounding volume which is unlikely to collide is not considered, and traversing scene calculation is not needed, so that the Pick efficiency is greatly improved.
The method of the ray Pick technology comprises the following steps: the method has the advantages that a simulated ray is emitted to a scene through mouse clicking, the ray is collided with the bounding volume closest to the ray, the bounding volume which is unlikely to collide is not considered, further, the scene traversing calculation is not needed, the Pick efficiency is greatly improved, and the pole tower can be selected by taking the object with the closest collision distance to the current viewpoint as a clicking result.
S1.3: in the three-dimensional real scene, the process of placing the hanging basket 1 is simulated, and the hanging basket 1 is automatically calculated and displayed to the focus O above the conducting wire1Arc radius R of (a);
the hanging basket 1 is automatically displayed on the pole I side (namely the positive pole side of the line) of the selected tower, the hanging basket can be dragged to be placed at other positions of the tower, and after the hanging basket is moved to a destination, the hanging basket 1 is placed by clicking a left mouse button. If the position needs to be adjusted after the hanging basket 1 is placed, the hanging basket 1 can be clicked again to move for placing again. The placing position of the hanging basket is taken as a starting point O2Starting point O2And is preset on the simulation rodFocal point O on the falling arm1The distance between the two is defined as the arc radius R and the focal point O of the live working2The location is determined according to the customer needs. The hanging basket 1 is fixed at the focus O by a safety rope 61And the starting point O2And the arc radius R is the arc radius of the moving track for swinging the hanging basket.
The method for selecting the placement position of the hanging basket 1 adopts a plane Pick technology and a ray Pick technology, a virtual plane is created by forward projection of the currently selected center of the tower and the tower, the ray Pick operation is carried out on the virtual plane, a simulated ray is emitted, the ray collides with the bounding body closest to the ray, and the object closest to the current viewpoint is obtained as a click result, namely the position where the selected hanging basket is to be placed. The planar Pick technology is adopted to limit the Pick result on a certain plane to be placed, so that the Pick result does not exceed the expected range, and the limitation of the Pick range can improve the operation efficiency.
S1.4: after the hanging basket 1 is placed, the moving track of the hanging basket 1 is simulated and displayed in a three-dimensional scene, and meanwhile, the displacement operation display of the hanging basket 1 on the moving track is provided.
After the hanging basket 1 is placed, the background automatically calculates the moving track of the hanging basket 1 and displays the moving track in a three-dimensional scene. As shown in fig. 1, the track section where the combined gap is smaller than the safety distance of 6.8m (the safety arc radius is different according to the voltage grade of the high-voltage transmission line) is shown as a dotted line, and the simulated moving track is shown as a solid line on the dotted line.
The displacement operation display method for the hanging basket 1 in the moving direction is provided by entering the operation area by an oscillation method, and comprises two methods: firstly, an upward ↓ordownward ↓arrowof a three-dimensional scene is used to control the hanging basket 1 to move along a track, and after the hanging basket is placed, the prompt of a downward moving key and an upward moving key is directly given out in the three-dimensional scene; and secondly, clicking a 'start' button of the three-dimensional scene, automatically displaying the start button above the hanging basket 1 after the hanging basket 1 is placed, and displaying the process that the hanging basket 1 moves to the insulator 3 from the placing position through animation.
Referring to fig. 1, the method for simulating the moving track of the basket 1 includes the following steps:
first, a starting point O is determined2Focal point O1Arc radius R of live working;
then, transmitting the offset of 1 radian theta to the basket movement every time, calculating a relative displacement point (x, y) value according to a parameter equation of a circle, and converting the two-dimensional space coordinate into a three-dimensional space coordinate, namely a stop point, by a three-dimensional engine technology;
wherein the parametric equation of the circle is
And finally, connecting the calculated displacement points to obtain the simulated moving track of the hanging basket.
The rendered warning arc line can be updated in real time through the algorithm, the warning arc line is simulated by adopting a plurality of small cylinders, the more the small cylinders are, the smoother the arc line is, the more the warning arc line is, the smoother the warning arc line is, the more the warning arc line is, and the more the warning arc line is, the real-time updating is not always.
Step S2: calculating the minimum safe distance of the hanging basket 1 in the moving track process, and displaying a combined gap value in a three-dimensional scene when the hanging basket 1 stops moving;
combining scene management with a GIS coordinate system, creating a local coordinate system for each tower, putting a model contained in live-line work, including an arc line, a hanging basket, a lateral line, a transverse line and display contents, into the local coordinate system of the corresponding tower as a set, wherein the position of the model is a coordinate relative to the local coordinate system of the tower, the tower model contains longitude and latitude and elevation information, and world position information is obtained through spherical conversion;
placing virtual key points on a tower model to obtain key positions related to a tower, wherein the key positions comprise the top end position of the tower, the bottom end position of the tower, the position of an insulator, the left side position and the right side position of the tower, a focus, a starting point and a stopping point, inputting the key positions and the positions of hanging baskets into an arc calculation formula to calculate three distances S1 between the hanging basket 1 and the tower, S2 and S3, and substituting the calculation formula of a combined gap to judge whether the current position is dangerous or not, wherein the calculation formula of the combined gap is S & ltmin (S1, S2) + S3, S1 is the distance between the hanging basket 1 and a top framework of the tower body 5, S2 is the distance between the hanging basket 1 and the side face of the tower body 5, and S3 is the distance between the hanging basket 1 and a cross arm 3. By using the method, the operation of storing the key value corresponding to the tower in the database can be omitted.
In a preferred embodiment, the algorithm of the present invention can calculate the included angle between the starting point S1 and the focus O, and the stopping point S2 and the focus O, and simultaneously calculate the horizontal distance S2 from the stopping point S2 to the nearest steel frame structure of the tower in real time as 1.26m, and simultaneously calculate the vertical distance S1 from the basket to the boom as 3.37m, and then calculate the distance S3 from the basket to the nearest insulator under the boom as 2.35 m. After these data are obtained, the data are substituted into the minimum safe distance calculation formula, { S1，S2}min+S3The safety distance requirement is met when the distance is more than or equal to 6.8 m.
When the basket stops along the trajectory displacement, the values of S1, S2, S3 and S are displayed in the three-dimensional scene, and the values of S1, S2, S3 and S are not displayed at the basket starting position.
The method is used for displaying two-dimensional information in a three-dimensional scene, creating a rectangle opposite to a viewpoint, generating a chartlet content as information to be displayed, chartlet the information to be displayed on the rectangle, and updating the position and the direction of the Billboard (a tower empty node) when the viewpoint moves and rotates, so that the Billboard can be placed at the position opposite to the viewpoint. And the Billboard can be blanked when the viewpoint is far away from the position to be displayed, so that the problem that the whole interface is cluttered due to the fact that the Billboard is piled up is avoided.
Step S3: and generating a live working simulation scheme for guiding field arrangement.
After the hanging basket 1 is placed, screen recording, screen capturing, playback, storage and loading buttons on the right side of the three-dimensional scene area are operated, the current live working simulation process can be stored, and a live working simulation scheme is generated in a supporting mode and used for guiding field arrangement.
In consideration of different hardware configurations during actual display, the invention provides rendering, a framework and a realization language which can run across platforms, distance measurement is realized by applying a ray Pick technology, and the algorithm of the invention is applied to perform swinging-in alarm arc rendering, scene management and GIS coordinate combination and comprehensive Billboard method display.
The method can realize the simulation of the entering process of the live-line work hanging basket method, the simulation process and the result can be reliably displayed, stored and loaded, a method capable of simulating the moving track of the live-line work hanging basket of the high-voltage transmission line is provided for live-line work implementing personnel, the defects of the live-line work operating mode and the display based on the traditional transmission line are effectively overcome based on the accurate three-dimensional live-action platform, and the method has a good actual operation effect.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (3)
1. A method for simulating a moving track of a hanging basket in equipotential live working of a high-voltage transmission line is characterized by comprising the following steps:
firstly, placing a hanging basket above a conducting wire in a three-dimensional live-action platform, wherein the placing position is defined as an initial point, and the distance between the initial point and a focus preset on a falling arm of a simulation tower is defined as an arc radius R of live-wire work;
then, transmitting the offset of l radian theta to the basket movement every time, calculating a relative displacement point (x, y) value according to a parameter equation of a circle, and converting the calculated two-dimensional space coordinate of the relative displacement point (x, y) into a three-dimensional space coordinate, namely a stop point, by a three-dimensional engine technology;
finally, connecting the calculated displacement points to obtain a simulated moving track of the hanging basket, wherein the simulated moving track meets the requirement of the minimum safe distance of the hot-line work, and the calculation formula of the minimum safe distance is
S＝min(S1，S2)+S3，
Wherein S1 is the vertical distance between the hanging basket and the falling arm of the simulation tower, S2 is the horizontal distance between the stopping point and the nearest steel frame structure of the simulation tower, and S3 is the distance between the hanging basket and the nearest insulator below the suspension arm.
2. The method for simulating the moving track of the hanging basket for the equipotential live-line work of the high-voltage transmission line according to claim 1, wherein a focus preset on a falling arm of the simulation tower is positioned according to the requirement of a customer.
3. The method for simulating the moving track of the hanging basket in the equipotential live-line work of the high-voltage transmission line according to claim 1, wherein the three-dimensional live-action platform is built by adopting a three-dimensional engine technology, using OpenGL for rendering, adopting java as a logic realization language, adopting java fx for constructing an interface frame, and adopting a BIHTree scene structure for dividing a scene into a plurality of bounding volumes.
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