CN110645940A - Dynamic prediction system and method for clearance distance between wire and tree - Google Patents
Dynamic prediction system and method for clearance distance between wire and tree Download PDFInfo
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Abstract
The invention discloses a dynamic prediction system and a dynamic prediction method for a clearance distance between a wire and a tree, wherein the system comprises a data acquisition module, a data acquisition module and a data prediction module, wherein the data acquisition module is used for acquiring original data of an environment where the wire to be detected and the tree to be detected are located; the model establishing module is used for establishing a three-dimensional model of the wire to be tested and the tree to be tested according to the original data; the model updating module is used for updating the three-dimensional model in real time according to the change of environment and time; and the alarm module is used for monitoring the clearance distance between the wire to be tested and the tree to be tested in the updated three-dimensional model in real time and sending alarm information when the clearance distance is smaller than or equal to a preset range. The method monitors the overhead transmission line channel through the three-dimensional model, can predict the clearance in real time, sends alarm information when the clearance is smaller than or equal to a preset range, and processes the alarm information in time, so that the safety problem of the power grid is avoided; the unmanned aerial vehicle overhead transmission line channel inspection cycle can be saved by at least 9 to 10 times every year, and the social benefit and the economic benefit are very obvious.
Description
Technical Field
The invention relates to the technical field of distance measurement, in particular to a system and a method for dynamically predicting a clearance distance between a wire and a tree.
Background
Traditional overhead transmission line passageway is patrolled mainly to rely on artifical on foot to patrol. With the application of the unmanned aerial vehicle overhead transmission line channel inspection technology, manual hiking inspection is gradually replaced; however, the unmanned aerial vehicle channel patrol can be developed only 2 to 3 times per year due to high unmanned aerial vehicle overhead transmission line channel patrol cost and reasons of aviation control, weather and the like; like this, during unmanned aerial vehicle overhead transmission line passageway inspection cycle, the control management of clearance between wire and the trees in the transmission line passageway is in the out of control state, and the electric wire netting safety risk is great.
Disclosure of Invention
Based on the defects of the prior art, the technical problem to be solved by the invention is to provide the dynamic prediction system and the dynamic prediction method for the clearance distance between the conducting wire and the tree, which have good processing effect, and the dynamic prediction system and the dynamic prediction method for the clearance distance between the conducting wire and the tree can solve the problems that the channel management of the overhead transmission line is in an out-of-control state and the safety risk of a power grid is high during the inspection period of the unmanned aerial vehicle.
In order to solve the above technical problem, in one aspect of the present invention, there is provided a system for dynamically predicting a clearance between a wire and a tree, comprising:
the data acquisition module is used for acquiring original data of the environment where the wire to be detected and the tree to be detected are located;
the model establishing module is connected with the data acquisition module and used for establishing a three-dimensional model of the wire to be tested and the tree to be tested according to the original data;
the model updating module is connected with the data acquisition module and the model establishing module and used for updating the three-dimensional model in real time according to changes of environment and time; and
the alarm module is connected with the model updating module and used for monitoring the clearance distance between the wire to be tested and the tree to be tested in the updated three-dimensional model in real time and sending alarm information when the clearance distance is smaller than or equal to a preset range;
the original data comprises the span between two towers for hanging a wire to be tested, the horizontal distance between the arc sag point to be tested and a tower on the side of a small size, meteorological conditions under the environment, the included angle between the connecting line of two hanging points on the two towers and the horizontal line, the original arc sag of the wire to be tested, the original horizontal distance between the tree to be tested and the arc sag point to be tested, the original vertical distance between the tree to be tested and the arc sag point to be tested, and the variety of the tree.
As a preferred aspect of the foregoing technical solution, the dynamic prediction system for a clearance between a wire and a tree provided by the present invention further includes some or all of the following technical features:
as an improvement of the above technical solution, the model updating module includes a first variation calculating unit, a second variation calculating unit, and a model updating unit,
the first variable quantity calculating unit is connected with the data acquisition module and is used for calculating a first variable quantity of the sag of the wire to be measured when the ambient temperature is t according to the original data and by combining a sag calculation formula of any point of the wire;
the second variable quantity calculating unit is connected with the data acquiring module and is used for calculating a second variable quantity of the tree in the vertical direction after the time N passes according to the original data and by combining the average growth rate of the tree;
the model updating unit is connected with the data acquisition module, the model establishing module, the first variation calculating unit and the second variation calculating unit, and is used for updating the three-dimensional model in real time according to the original data, the first variation and the second variation.
As an improvement of the above technical solution, the first variation calculating unit includes a sag calculating sub-unit and a first variation amount sub-unit,
the sag calculation subunit is connected with the data acquisition module and is used for calculating the sag at any point of the wire according to a sag calculation formula at the ambient temperature of t2Sag of the wire to be tested; the calculation formula is as follows:
wherein f is2Is at ambient temperature t2Sag of the wire to be tested; r is the wire specific load; l is the span between two towers suspending the wire to be tested; lxThe horizontal distance between the sag point to be measured and the tower on the small-size side is obtained; sigma2Is the ambient temperature t2Predicted stress of the lower conductor; beta is a height difference angle, namely an included angle between a connecting line of the two suspension points and a horizontal line;
the first change amount calculation subunit is connected with the data acquisition module and the sag calculation subunit, and is used for calculating the first change amount according to the original data and the sag of the wire to be measured; the first variation is:
f＝f2-f1
wherein f is a first amount of change; f. of1Is the original sag of the wire to be tested.
As an improvement of the above technical solution, the second variation amount is:
wherein: d is a second variation, j1Is the average growth rate m of the tree of the variety in 12-2 months1Is the number of months in which time N lies within 12-2 months; j is a function of2Is the average growth rate m of the tree of the variety in 3-5 months2Is the number of months in which N is in 3-5 months; j is a function of3Is the average growth rate m of the tree of the variety in 6-8 months3Is the number of months in which N is in 6-8 months; j is a function of4Is the average growth rate m of the tree of the variety in 9-11 months4Is the number of months in which N is in months 9-11.
As an improvement of the technical proposal, the alarm module comprises a clearance distance calculation unit and an alarm unit,
the clearance distance calculating unit is connected with the data acquiring module, the first variation calculating unit and the second variation calculating unit and is used for calculating the clearance distance between the wire to be tested and the tree to be tested according to the original data, the first variation and the second variation; the clearance distance is as follows:
h is the clearance distance between the wire to be tested and the tree to be tested; h is1The original vertical distance between the tree to be measured and the sag point to be measured is obtained; h is2The original horizontal distance between the tree to be measured and the sag point to be measured is obtained;
and the alarm unit is connected with the clearance calculation unit and used for sending alarm information when the clearance is less than or equal to the preset range.
In another aspect of the present invention, a method for dynamically predicting a clearance between a wire and a tree is provided, which includes the following steps:
step 1: acquiring original data of the environment where the wire to be tested and the tree to be tested are located;
step 2: establishing a three-dimensional model of the wire to be tested and the tree to be tested according to the original data;
and step 3: updating the three-dimensional model in real time according to changes of environment and time;
and 4, step 4: monitoring the clearance distance between the wire to be tested and the tree to be tested in the updated three-dimensional model in real time, and sending alarm information when the clearance distance is smaller than or equal to a preset range;
the original data comprises the span between two towers for hanging a wire to be tested, the horizontal distance between the arc sag point to be tested and a tower on the side of a small size, meteorological conditions under the environment, the included angle between the connecting line of two hanging points on the two towers and the horizontal line, the original arc sag of the wire to be tested, the original horizontal distance between the tree to be tested and the arc sag point to be tested, the original vertical distance between the tree to be tested and the arc sag point to be tested, and the variety of the tree.
As a preferred aspect of the foregoing technical solution, the method for dynamically predicting the clearance between the wire and the tree further includes some or all of the following technical features:
as an improvement of the above technical solution, the step 3 is specifically implemented as follows:
step 31: calculating a first variable quantity of the sag of the wire to be measured when the ambient temperature is t by combining a sag calculation formula of any point of the wire according to the original data;
step 32: calculating a second variable quantity of the tree in the vertical direction after the time N is passed according to the original data and by combining the average growth rate of the tree;
step 33: and updating the three-dimensional model in real time according to the original data, the first variable quantity and the second variable quantity.
As an improvement of the above technical solution, the step 31 is specifically implemented as:
step 311: calculating the temperature t at the environment according to the calculation formula of the sag of any point of the wire2Sag of the wire to be tested; the calculation formula is as follows:
wherein f is2Is at ambient temperature t2Sag of the wire to be tested; r is the wire specific load; l is the span between two towers suspending the wire to be tested; lxThe horizontal distance between the sag point to be measured and the tower on the small-size side is obtained; sigma2Is the ambient temperature t2Predicted stress of the lower conductor; beta is a height difference angle, namely an included angle between a connecting line of the two suspension points and a horizontal line;
step 312: calculating the first variable quantity according to the original data and the sag of the wire to be tested; the first variation is:
f＝f2-f1
wherein f is a first amount of change; f. of1Is the original sag of the wire to be tested.
As an improvement of the above technical solution, the second variation amount is:
wherein: d is a second variation, j1Is the average growth rate m of the tree of the variety in 12-2 months1Is the number of months in which time N lies within 12-2 months; j is a function of2Is the average growth rate m of the tree of the variety in 3-5 months2Is the number of months in which N is in 3-5 months, j3Is the average growth rate m of the tree of the variety in 6-8 months3Is the number of months in which N is in 6-8 months, j4Is the average growth rate m of the tree of the variety in 9-11 months4Is the number of months in which N is in months 9-11.
As an improvement of the above technical solution, the step 4 is specifically implemented as follows:
step 41: calculating the clearance distance between the wire to be tested and the tree to be tested according to the original data, the first variable quantity and the second variable quantity; the clearance distance is as follows:
h is the clearance distance between the wire to be tested and the tree to be tested; h is1The original vertical distance between the tree to be measured and the sag point to be measured is obtained; h is2The original horizontal distance between the tree to be measured and the sag point to be measured is obtained;
step 42: and when the clearance distance is less than or equal to the preset range, sending alarm information.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects: according to the method, the three-dimensional models of the wire to be tested and the tree to be tested are established, and the three-dimensional models are updated in real time so as to carry out prediction simulation on the environment of the wire to be tested and the tree to be tested, so that an operator can conveniently monitor the overhead transmission line channel through the three-dimensional models during the inspection period of the unmanned aerial vehicle; meanwhile, the invention also predicts the clearance between the wire to be tested and the tree to be tested in real time, and sends alarm information when the clearance is less than or equal to a preset range, so that an operator can conveniently arrive at the site in time for processing; so as to avoid the safety problem of the power grid; the unmanned aerial vehicle overhead transmission line channel inspection cycle can be saved by at least 9 to 10 times per year, and the social benefit and the economic benefit are very obvious.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the contents of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following detailed description is given in conjunction with the preferred embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
FIG. 1 is a schematic diagram of a dynamic prediction system for the clearance between a wire and a tree according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a model update module in a dynamic prediction system for the clearance between a wire and a tree according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first variation calculating unit in a dynamic prediction system for the clearance between a wire and a tree according to a first embodiment of the present invention;
fig. 4 is a schematic structural diagram of an alarm module in a dynamic prediction system for the clearance between a wire and a tree according to a first embodiment of the present invention;
FIG. 5 is a flowchart of a method for dynamically predicting the clearance between a wire and a tree according to a first embodiment of the present invention;
FIG. 6 is a layout diagram of the wires and the tree under test in their original states;
FIG. 7 is a graph showing the vertical change of the tree to be measured after a time N;
FIG. 8 is a graph of sag variation of a lead under test at an ambient temperature t and in an original state;
fig. 9 is a combined variation of fig. 7 and 8.
Detailed Description
Other aspects, features and advantages of the present invention will become apparent from the following detailed description, which, when taken in conjunction with the drawings, illustrate by way of example the principles of the invention.
In one embodiment, referring to fig. 1, a system for dynamically predicting a clearance between a wire and a tree includes:
the data acquisition module 1 is used for acquiring original data of the environment where the wire to be detected and the tree to be detected are located; the raw data can be obtained by unmanned aerial vehicle laser radar scanning technology;
the model establishing module 2 is connected with the data acquiring module 1 and used for establishing a three-dimensional model of the wire to be tested and the tree to be tested according to the original data;
the model updating module 3 is connected with the data acquisition module 1 and the model establishing module 2 and is used for updating the three-dimensional model in real time according to changes of environment and time; and
and the alarm module 4 is connected with the model updating module 3 and used for monitoring the clearance between the wire to be tested and the tree to be tested in the updated three-dimensional model in real time, and sending alarm information when the clearance is smaller than or equal to a preset range.
Further, the original data includes a span between two towers on which a wire to be tested is hung, a horizontal distance between the sag point to be tested and a tower on the side of a small size, meteorological conditions under the environment, an included angle between a connecting line of two hanging points on the two towers and a horizontal line, an original sag of the wire to be tested, an original horizontal distance between the tree to be tested and the sag point to be tested, an original vertical distance between the tree to be tested and the sag point to be tested, and a variety of the tree.
Further, referring to fig. 2, the model updating module 3 includes a first variation calculating unit 31, a second variation calculating unit 32 and a model updating unit 33,
the first variation calculating unit 31 is connected to the data acquiring module 1, and is configured to calculate, according to the original data and in combination with a calculation formula of an arc sag of any point of a wire, a first variation of an arc sag of the wire to be measured at an ambient temperature t;
the second variation calculating unit 32 is connected to the data acquiring module 1, and configured to calculate, according to the original data and in combination with an average growth rate of the tree, a second variation in the vertical direction of the tree after a time N elapses;
the model updating unit 33 is connected to the data obtaining module 1, the model building module 2, the first variation calculating unit 31, and the second variation calculating unit 32, and configured to update the three-dimensional model in real time according to the original data, the first variation, and the second variation.
Further, referring to fig. 3, the first variation calculating unit 31 includes a sag calculating sub-unit 311 and a first variation amount sub-unit 312,
the sag calculating subunit 311 is connected to the data acquiring module 1, and configured to calculate, according to a sag calculation formula at any point of the conductive wire, a temperature t at the environment2Sag of the wire to be tested; the calculation formula is as follows:
wherein f is2Is at ambient temperature t2The unit of sag of the wire to be tested is m; r is the specific load of the wire, and the unit is MPa/m; l is the span between two towers for hanging the wire to be measured, and the unit is m; lxThe horizontal distance between the sag point to be measured and a tower on the small-size side is m, the number arrangement sequence of the line led out from the transformer substation is from small to large, and the number arrangement on the small-size side is smallerOne side of a tower; sigma2Is the ambient temperature t2The predicted stress of the lower lead is in MPa, beta is a height difference angle, namely the included angle between the connecting line of the two suspension points and the horizontal line, and the unit is DEG;
the first variation amount sub-unit 312 is connected to the data acquisition module 1 and the sag calculation sub-unit 311, and is configured to calculate the first variation amount according to the original data and a sag of the wire to be measured; referring to fig. 8, the first variation is:
f＝f2-f1
wherein f is a first amount of change; f. of1Is the original sag of the wire to be tested, and the unit is m.
In this embodiment, the wire specific load r can be generally obtained by looking up engineering data directly; or may be obtained by:
in the formula, q is the mass per unit length of the lead, and the unit is kg/km; a is the sectional area of the wire in mm2(ii) a g is gravity acceleration, g is 9.80665, unit is m/s2；
Ambient temperature t2Predicted stress sigma of lower conductor2Obtained by the following steps:
wherein E is the elastic coefficient of the wire, alpha is the temperature expansion coefficient, and t2And t1Respectively, the ambient temperature at the time of prediction (corresponding to a high temperature) and the original ambient temperature (corresponding to a low temperature), σ1The unit is the representative stress of the representative span of the tension section where the observation gear is located, which is obtained in the original observation, and the unit is MPa;
wherein the original stress sigma of the wire to be tested1Obtained by the following steps:
in addition to this, the wire temperature T can also be determined in the following mannere：
Te＝2.238+8.36×10-6×I2-0.00141×I+0.9992×T
In the formula, the temperature T of the wireeThe unit is W/m; i is load current with the unit of W/m; t is the ambient temperature, and T2Are equal.
Further, the second variation is:
wherein: d is a second variation, j1Is the average growth rate m of the tree of the variety in 12-2 months1Is the number of months in which time N lies within 12-2 months; j is a function of2Is the average growth rate m of the tree of the variety in 3-5 months2Is the number of months in which N is in 3-5 months; j is a function of3Is the average growth rate m of the tree of the variety in 6-8 months3Is the number of months in which N is in 6-8 months; j is a function of4Is the average growth rate m of the tree of the variety in 9-11 months4Is the number of months in which N is in months 9-11.
The tree growth rate is influenced by various factors such as different seasons, different regional environments, different tree species and the like, so that the forestry management department of each province has the final growth height of the main tree species within the province range and the average tree growth rate of different seasons, and the final growth height and the average tree growth rate serve as reference basis of the 'average tree growth rate' related in the invention. For example, the average growth rate of trees in Hubei province is shown in Table 1:
TABLE 1 reference value of average growth rate of trees in Hubei province
As can be seen from Table 1 above, 12-2 months is the resting period of the tree growth, and the average growth height per month is 0. Most trees have final growth height limits, and the original data also comprises the original vertical distance of the trees, namely the original height d1 of the trees; for trees with growth height limitation, such as acacia, salix populi and the like, before calculating the second variation d, the original vertical distance of the obtained tree needs to be compared with the final growth height of the tree, when the original vertical distance of the tree is smaller than the final growth height of the tree, the second variation is calculated, and after the second variation is calculated, if the sum of the second variation d and the original vertical distance of the tree (i.e. d2 in fig. 7) is larger than the final growth height of the tree, the value of the second variation is the difference between the final growth height and the original vertical distance of the tree; and when the original vertical distance of the tree is greater than or equal to the final growth height of the tree, the value of the second variation is zero.
Further, referring to fig. 4, the alarm module 4 includes a clearance calculation unit 41 and an alarm unit 42,
the clearance calculating unit 41 is connected to the data acquiring module 1, the first variation calculating unit 31 and the second variation calculating unit 32, and configured to calculate a clearance between the wire to be tested and the tree to be tested according to the original data, the first variation and the second variation; referring to fig. 7 and 9, the clearance is:
h is the clearance distance between the wire to be tested and the tree to be tested; h is1The original vertical distance between the tree to be measured and the sag point to be measured is obtained; h is2The original horizontal distance between the tree to be measured and the sag point to be measured is obtained;
and the alarm unit 42 is connected with the clearance calculation unit 41 and used for sending alarm information when the clearance is less than or equal to the preset range. The preset range can be set according to actual conditions, if the preset range is 1m, when the clearance distance between the wire to be tested and the tree to be tested is less than or equal to 1m, the alarm unit 42 will send out an alarm.
In a second embodiment, referring to fig. 5, a method for dynamically predicting a clearance between a wire and a tree includes the following steps:
step 1: acquiring original data of the environment where the wire to be tested and the tree to be tested are located;
step 2: establishing a three-dimensional model of the wire to be tested and the tree to be tested according to the original data;
and step 3: updating the three-dimensional model in real time according to changes of environment and time;
and 4, step 4: and monitoring the clearance distance between the wire to be tested and the tree to be tested in the updated three-dimensional model in real time, and sending alarm information when the clearance distance is smaller than or equal to a preset range.
Further, the original data includes a span between two towers on which a wire to be tested is hung, a horizontal distance between the sag point to be tested and a tower on the side of a small size, meteorological conditions under the environment, an included angle between a connecting line of two hanging points on the two towers and a horizontal line, an original sag of the wire to be tested, an original horizontal distance between the tree to be tested and the sag point to be tested, an original vertical distance between the tree to be tested and the sag point to be tested, and a variety of the tree.
Further, the step 3 is specifically realized as follows:
step 31: calculating a first variable quantity of the sag of the wire to be measured when the ambient temperature is t by combining a sag calculation formula of any point of the wire according to the original data;
step 32: calculating a second variable quantity of the tree in the vertical direction after the time N is passed according to the original data and by combining the average growth rate of the tree;
step 33: and updating the three-dimensional model in real time according to the original data, the first variable quantity and the second variable quantity.
Further, the step 31 is implemented specifically as follows:
step 311: calculating the temperature t at the environment according to the calculation formula of the sag of any point of the wire2Sag of the wire to be tested; said calculation formulaThe following were used:
wherein f is2Is at ambient temperature t2Sag of the wire to be tested; r is the wire specific load; l is the span between two towers suspending the wire to be tested; lxThe horizontal distance between the sag point to be measured and the tower on the small-size side is obtained; sigma2Is the ambient temperature t2Predicted stress of the lower conductor; beta is a height difference angle, namely an included angle between a connecting line of the two suspension points and a horizontal line;
step 312: calculating the first variable quantity according to the original data and the sag of the wire to be tested; the first variation is:
f＝f2-f1
wherein f is a first amount of change; f. of1Is the original sag of the wire to be tested, and the unit is m.
In this embodiment, the wire specific load r can be generally obtained by looking up engineering data directly; or may be obtained by:
in the formula, q is the mass per unit length of the lead, and the unit is kg/km; a is the sectional area of the wire in mm2(ii) a g is gravity acceleration, g is 9.80665, unit is m/s2；
Ambient temperature t2Predicted stress sigma of lower conductor2Obtained by the following steps:
wherein E is the elastic coefficient of the wire, alpha is the temperature expansion coefficient, and t2And t1Respectively, the ambient temperature at the time of prediction (corresponding to a high temperature) and the original ambient temperature (corresponding to a low temperature), σ1Is the representative span of the tension section where the observation gear is located, which is calculated in the original observationIs expressed in MPa;
wherein the original stress sigma of the wire to be tested1Obtained by the following steps:
in addition to this, the wire temperature T can also be determined in the following mannere：
Te＝2.238+8.36×10-6×I2-0.00141×I+0.9992×T
In the formula, the temperature T of the wireeThe unit is W/m; i is load current with the unit of W/m; t is the ambient temperature, and T2Are equal.
Further, the second variation is:
wherein: d is a second variation, j1Is the average growth rate m of the tree of the variety in 12-2 months1Is the number of months in which time N lies within 12-2 months; j is a function of2Is the average growth rate m of the tree of the variety in 3-5 months2Is the number of months in which N is in 3-5 months, j3Is the average growth rate m of the tree of the variety in 6-8 months3Is the number of months in which N is in 6-8 months, j4Is the average growth rate m of the tree of the variety in 9-11 months4Is the number of months in which N is in months 9-11.
As can be seen from table 1 above, most trees have final growth height limitations, and the original data further includes the original vertical distance of the tree, i.e., the original height of the tree; for trees with growth height limitation, such as acacia, salix populi and the like, before calculating a second variation, comparing an original vertical distance of the obtained tree with a final growth height of the tree, when the original vertical distance of the tree is smaller than the final growth height of the tree, calculating the second variation, and after calculating the second variation, if the sum of the second variation and the original vertical distance of the tree is larger than the final growth height of the tree, the value of the second variation is the difference value of the final growth height and the original vertical distance of the tree; and when the original vertical distance of the tree is greater than or equal to the final growth height of the tree, the value of the second variation is zero.
Further, the step 4 is specifically realized as follows:
step 41: calculating the clearance distance between the wire to be tested and the tree to be tested according to the original data, the first variable quantity and the second variable quantity; the clearance distance is as follows:
h is the clearance distance between the wire to be tested and the tree to be tested; h is1The original vertical distance between the tree to be measured and the sag point to be measured is obtained; h is2The original horizontal distance between the tree to be measured and the sag point to be measured is obtained;
step 42: and when the clearance distance is less than or equal to the preset range, sending alarm information.
According to the method, the original sag of the wire is obtained according to the temperature of the wire of the overhead transmission line during on-site inspection by the unmanned aerial vehicle, on the basis of the temperature and the sag, a three-dimensional model of the wire to be detected and the tree to be detected is established, the spatial position of the change of the sag of the wire at any wire temperature and the spatial position of the change of the tree in the vertical direction in any season are calculated, so that the three-dimensional model is updated in real time, the environment of the wire to be detected and the tree to be detected is predicted and simulated, and an operator can conveniently monitor the passage of the overhead transmission line through the three-dimensional model during the; meanwhile, the invention also predicts the clearance between the wire to be tested and the tree to be tested in real time, and sends alarm information when the clearance is less than or equal to a preset range, so that an operator can conveniently arrive at the site in time for processing; so as to avoid the safety problem of the power grid; the unmanned aerial vehicle overhead transmission line channel inspection cycle can be saved by at least 9 to 10 times per year, and the social benefit and the economic benefit are very obvious.
The prediction data of the dynamic prediction method for the clearance between the wire and the tree provided by the invention are as follows:
table 2, unmanned aerial vehicle channel inspection actual measurement data of overhead transmission line
Table 3, predicting the clearance distance (contemporaneous environment temperature and load) between the transmission line conductor and the tree after 1 month
Table 4, predicting the clearance distance (contemporaneous environment temperature and load) between the transmission line conductor and the tree after 3 months
The error of the predicted values in tables 3 and 4 above is mainly divided into several aspects: 1. calculating precision errors: one hundredth of the distance is calculated according to the margin of 1m, and the error is 1 cm; 2. error of original data: the measurement precision of the laser radar of the unmanned aerial vehicle is cm level, and is generally 2 to 3 cm. 3. Monthly growth rate error of trees: referring to the seasonal growth rate of different tree species provided by provincial forestry departments, taking a white poplar with a faster growth rate as an example, the growth rate is 0.99m in 3 to 5 months, the average growth rate to the month is 0.33m, and the maximum error is less than 0.33 m.
To sum up, the maximum composite error of the predicted value is: the calculation accuracy error is 1cm, the original data error is 3cm, and the tree growth rate error is 33 cm-37 cm. According to the management requirement of the overhead transmission line, aiming at the hidden danger of the dynamic clearance distance between the wire of the overhead transmission line and the tree, the clearance electrical safety distance is managed according to the margin of 1m, so that the accuracy of the maximum comprehensive error of the predicted value completely meets the requirement.
As can be seen from the data in table 3 and table 4 above, the dynamic prediction method of the clearance between the wire and the tree provided by the present invention has a small error of the predicted clearance, and the predicted clearance is reliable.
While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (10)
1. A system for dynamically predicting the clearance between a wire and a tree, comprising:
the data acquisition module (1) is used for acquiring original data of the environment where the wire to be detected and the tree to be detected are located;
the model establishing module (2) is connected with the data acquiring module (1) and is used for establishing a three-dimensional model of the wire to be tested and the tree to be tested according to the original data;
the model updating module (3) is connected with the data acquisition module (1) and the model establishing module (2) and is used for updating the three-dimensional model in real time according to the change of environment and time; and
the alarm module (4) is connected with the model updating module (3) and is used for monitoring the clearance distance between the wire to be tested and the tree to be tested in the updated three-dimensional model in real time and sending alarm information when the clearance distance is smaller than or equal to a preset range;
the original data comprises the span between two towers for hanging a wire to be tested, the horizontal distance between the arc sag point to be tested and a tower on the side of a small size, meteorological conditions under the environment, the included angle between the connecting line of two hanging points on the two towers and the horizontal line, the original arc sag of the wire to be tested, the original horizontal distance between the tree to be tested and the arc sag point to be tested, the original vertical distance between the tree to be tested and the arc sag point to be tested, and the variety of the tree.
2. The system of claim 1, wherein the system is further configured to dynamically predict a clearance between the wire and the tree: the model updating module (3) comprises a first variation calculating unit (31), a second variation calculating unit (32) and a model updating unit (33),
the first variable quantity calculating unit (31) is connected with the data acquisition module (1) and is used for calculating a first variable quantity of the sag of the wire to be measured when the ambient temperature is t according to the original data and by combining a sag calculation formula of any point of the wire;
the second variable quantity calculating unit (32) is connected with the data acquisition module (1) and is used for calculating a second variable quantity of the tree in the vertical direction after the time N passes according to the original data and by combining the average growth rate of the tree;
the model updating unit (33) is connected with the data acquisition module (1), the model establishing module (2), the first variation calculating unit (31) and the second variation calculating unit (32), and is used for updating the three-dimensional model in real time according to the original data, the first variation and the second variation.
3. The system of claim 2, wherein the system is further configured to dynamically predict a clearance between the wire and the tree: the first variation calculating unit (31) includes a sag calculating sub-unit (311) and a first variation calculating sub-unit (312),
the sag calculation subunit (311) is connected with the data acquisition module (1) and is used for calculating t at the ambient temperature according to a sag calculation formula of any point of the conducting wire2Sag of the wire to be tested; the calculation formula is as follows:
wherein f is2Is at ambient temperature t2While the wire to be testedSag; r is the wire specific load; l is the span between two towers suspending the wire to be tested; lxThe horizontal distance between the sag point to be measured and the tower on the small-size side is obtained; sigma2Is the ambient temperature t2Predicted stress of the lower conductor; beta is a height difference angle, namely an included angle between a connecting line of the two suspension points and a horizontal line;
the first change amount operator unit (312) is connected with the data acquisition module (1) and the sag calculation operator unit (311) and is used for calculating the first change amount according to the original data and the sag of the wire to be measured; the first variation is:
f＝f2-f1
wherein f is a first amount of change; f. of1Is the original sag of the wire to be tested.
4. The system of claim 3, wherein the system further comprises: the second variation is:
wherein: d is a second variation, j1Is the average growth rate m of the tree of the variety in 12-2 months1Is the number of months in which time N lies within 12-2 months; j is a function of2Is the average growth rate m of the tree of the variety in 3-5 months2Is the number of months in which N is in 3-5 months; j is a function of3Is the average growth rate m of the tree of the variety in 6-8 months3Is the number of months in which N is in 6-8 months; j is a function of4Is the average growth rate m of the tree of the variety in 9-11 months4Is the number of months in which N is in months 9-11.
5. The system of claim 4, wherein the dynamic prediction of the clearance between the wire and the tree comprises: the alarm module (4) comprises a clearance calculation unit (41) and an alarm unit (42),
the clearance distance calculation unit (41) is connected with the data acquisition module (1), the first variation calculation unit (31) and the second variation calculation unit (32) and is used for calculating the clearance distance between the wire to be measured and the tree to be measured according to the original data, the first variation and the second variation; the clearance distance is as follows:
h is the clearance distance between the wire to be tested and the tree to be tested; h is1The original vertical distance between the tree to be measured and the sag point to be measured is obtained; h is2The original horizontal distance between the tree to be measured and the sag point to be measured is obtained;
the alarm unit (42) is connected with the clearance calculation unit (41) and used for sending alarm information when the clearance is smaller than or equal to the preset range.
6. A dynamic prediction method for a clearance distance between a wire and a tree is characterized by comprising the following steps:
step 1: acquiring original data of the environment where the wire to be tested and the tree to be tested are located;
step 2: establishing a three-dimensional model of the wire to be tested and the tree to be tested according to the original data;
and step 3: updating the three-dimensional model in real time according to changes of environment and time;
and 4, step 4: monitoring the clearance distance between the wire to be tested and the tree to be tested in the updated three-dimensional model in real time, and sending alarm information when the clearance distance is smaller than or equal to a preset range;
the original data comprises the span between two towers for hanging a wire to be tested, the horizontal distance between the arc sag point to be tested and a tower on the side of a small size, meteorological conditions under the environment, the included angle between the connecting line of two hanging points on the two towers and the horizontal line, the original arc sag of the wire to be tested, the original horizontal distance between the tree to be tested and the arc sag point to be tested, the original vertical distance between the tree to be tested and the arc sag point to be tested, and the variety of the tree.
7. The method of claim 6, wherein the step of dynamically predicting the clearance between the wire and the tree comprises: the specific implementation of the step 3 is as follows:
step 31: calculating a first variable quantity of the sag of the wire to be measured when the ambient temperature is t by combining a sag calculation formula of any point of the wire according to the original data;
step 32: calculating a second variable quantity of the tree in the vertical direction after the time N is passed according to the original data and by combining the average growth rate of the tree;
step 33: and updating the three-dimensional model in real time according to the original data, the first variable quantity and the second variable quantity.
8. The method of claim 7, wherein the step of dynamically predicting the clearance between the wire and the tree comprises: the specific implementation of step 31 is:
step 311: calculating the temperature t at the environment according to the calculation formula of the sag of any point of the wire2Sag of the wire to be tested; the calculation formula is as follows:
wherein f is2Is at ambient temperature t2Sag of the wire to be tested; r is the wire specific load; l is the span between two towers suspending the wire to be tested; lxThe horizontal distance between the sag point to be measured and the tower on the small-size side is obtained; sigma2Is the ambient temperature t2Predicted stress of the lower conductor; beta is a height difference angle, namely an included angle between a connecting line of the two suspension points and a horizontal line;
step 312: calculating the first variable quantity according to the original data and the sag of the wire to be tested; the first variation is:
f＝f2-f1
wherein the content of the first and second substances,f is a first variation; f. of1Is the original sag of the wire to be tested.
9. The method of claim 8, wherein the step of dynamically predicting the clearance between the wire and the tree comprises: the second variation is:
wherein: d is a second variation, j1Is the average growth rate m of the tree of the variety in 12-2 months1Is the number of months in which time N lies within 12-2 months; j is a function of2Is the average growth rate m of the tree of the variety in 3-5 months2Is the number of months in which N is in 3-5 months, j3Is the average growth rate m of the tree of the variety in 6-8 months3Is the number of months in which N is in 6-8 months, j4Is the average growth rate m of the tree of the variety in 9-11 months4Is the number of months in which N is in months 9-11.
10. The method of claim 9, wherein the step of dynamically predicting the clearance between the wire and the tree comprises: the specific implementation of the step 4 is as follows:
step 41: calculating the clearance distance between the wire to be tested and the tree to be tested according to the original data, the first variable quantity and the second variable quantity; the clearance distance is as follows:
h is the clearance distance between the wire to be tested and the tree to be tested; h is1The original vertical distance between the tree to be measured and the sag point to be measured is obtained; h is2The original horizontal distance between the tree to be measured and the sag point to be measured is obtained;
step 42: and when the clearance distance is less than or equal to the preset range, sending alarm information.
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