CN111137791B - Transformer substation lifting system based on wireless communication - Google Patents

Transformer substation lifting system based on wireless communication Download PDF

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CN111137791B
CN111137791B CN201911328706.XA CN201911328706A CN111137791B CN 111137791 B CN111137791 B CN 111137791B CN 201911328706 A CN201911328706 A CN 201911328706A CN 111137791 B CN111137791 B CN 111137791B
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control line
end coordinate
shortest distance
solving
line
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CN111137791A (en
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廖兴旺
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Fujian Ruis Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices

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Abstract

The invention discloses a transformer substation hoisting system based on wireless communication and the field of power systems, wherein the system comprises: the system comprises hoisting equipment, a first positioner, a second positioner and a rear-end server; the back-end server includes: the environment position acquisition module is used for acquiring the first end part coordinates and the second end part coordinates of each safety control line according to the position information of each first positioner in the transformer substation; the hoisting position acquisition module is used for acquiring the position information of the second positioner in real time and acquiring the third end coordinate and the fourth end coordinate of each hazard source control line; the hoisting danger early warning module is used for solving the shortest distance between the safety control line and the danger source control line; and if the shortest distance is smaller than the first threshold value, outputting a danger alarm. According to the invention, the shortest distance between the safety control line and the dangerous control line is solved by setting the safety control line and the dangerous control line, and a dangerous alarm is given when the shortest distance is too small, so that constructors can pay attention to construction safety.

Description

Transformer substation lifting system based on wireless communication
Technical Field
The invention relates to the field of transformer substations, in particular to a transformer substation hoisting system based on wireless communication.
Background
The transformer substation is a place for converting voltage and current, receiving electric energy and distributing electric energy in an electric power system. The substations in the power plant are step-up substations, which are used to boost up the electrical energy generated by the generator and feed it into the high-voltage network.
In the transformer substation, equipment and lines in the environment of the transformer substation are more, and when new equipment needs to be hoisted or old equipment is hoisted and removed, a hoisting machine and the environmental equipment or the lines in the transformer substation are prone to causing collision accidents due to hoisting misoperation. In the prior art, the hoisting safety management and control of the transformer substation is lacked.
Disclosure of Invention
In view of the defects of the prior art, the technical problem to be solved by the invention is to provide a transformer substation hoisting system based on wireless communication, and the transformer substation hoisting system aims to set a safety control line and a dangerous control line, set locators at two ends of the control line so as to obtain two end positions of each control line, solve the shortest distance between the safety control line and the dangerous control line, judge whether the distance between the safety control line and the dangerous control line is smaller than a first threshold value, and send out a dangerous alarm when the distance between the safety control line and the dangerous control line is smaller than the first threshold value so as to remind constructors that the distance between hoisting equipment and original facilities in the environment is short and the risk of collision exists, so that the.
In order to achieve the above object, the present invention provides a transformer substation hoisting system based on wireless communication, the system comprising:
hoisting equipment; the hoisting equipment comprises a suspender, a lifting rope and a lifting hook;
a first positioner; the first positioner is arranged at two ends of a control line to be protected in the transformer substation according to the field environment information of the transformer substation, and forms a safety control line; the field environment information includes: the system comprises an in-station electric wire line, an in-station electric tower and in-station equipment; the first positioners are respectively arranged at two ends of the in-station electric wire circuit, the top and the bottom of the in-station electric tower and the top surface corner and the bottom surface corner of the in-station equipment; the safety control line includes: the line segment of the station electric wire line, the connecting line of the top and the bottom of the station electric tower and the sideline of the station equipment;
a second positioner; the second positioner is arranged at two ends of a suspender of the hoisting equipment and the bottom of the first equipment hoisted below the hook, and forms a hazard source control line; the hazard control line includes: a line segment formed by the second positioners at the two ends of the suspender and a line segment formed by the top of the suspender and the bottom of the first device hoisted below the hook;
and a back-end server; the back-end server includes:
a communication module; the communication module is in communication connection with the hoisting equipment, the first positioner and the second positioner;
the environment position acquisition module is used for acquiring the coordinates of two end parts of each safety control line according to the position information of each first positioner in the transformer substation: first end coordinate A (x)a,ya,za) And second end coordinates B (x)b,yb,zb)；
And the hoisting position acquisition module is used for acquiring the position information of the second positioner in real time and acquiring the coordinates of two end parts of each hazard source control line: third end coordinate C (x)c,yc,yc) And fourth end coordinates D (x)d,yd,yd)；
A hoisting danger early warning module used for providing a basis for the first end partCoordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) The third end coordinate C (x)c,yc,yc) And the fourth end coordinate D (x)d,yd,yd) Solving the shortest distance epsilon between the safety control line and the dangerous source control line; and if the shortest distance epsilon is less than a first threshold value, outputting a danger alarm.
In this technical scheme, through setting for safety control line and dangerous control line to set up the locator so that obtain the both ends position of each control line at the control line both ends, and solve the shortest distance between safety control line and the dangerous control line, judge whether distance between the two is less than first threshold value, when being less than first threshold value, send out dangerous alarm, remind constructor hoisting equipment to be close with the original facility distance in the environment, the risk that has collided, so that constructor notices construction safety.
In a specific embodiment, hoist and mount danger early warning module includes
A control line plumb line solving module for solving the control line plumb line according to the first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) The third end coordinate C (x)c,yc,yc) And the fourth end coordinate D (x)d,yd,yd) Solving the common vertical line vector
Figure BDA0002329033760000031
The common vertical line vector
Figure BDA0002329033760000032
Satisfies the following conditions:
Figure BDA0002329033760000033
the above-mentioned
Figure BDA0002329033760000034
Is the first end coordinate A (x)a,ya,za) Is directed to the firstTwo end coordinates B (x)b,yb,zb) The formed safety control line vector; the above-mentioned
Figure BDA0002329033760000035
As the coordinates of the third end
Figure BDA0002329033760000036
Pointing to the fourth end coordinate D (x)d,yd,yd) The formed hazard control line vector; the above-mentioned
Figure BDA0002329033760000041
A first plane solving module for obtaining a first normal vector of a first plane according to the first normal vector and the first end coordinate A (x)a,ya,za) Solving a first plane equation x for said first planes1(x-xa)+ys1(y-ya)+zs1(z-za) Constructing a first function f (x, y, z) as 0; wherein f (x, y, z) ═ xs1(x-xa)+ys1(y-ya)+zs1(z-za) Said first plane is defined by said first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) And the common perpendicular vector
Figure BDA0002329033760000042
Determining;
a second plane solving module for obtaining a second normal vector of a second plane according to the second normal vector and the third end coordinate C (x)c,yc,yc) Solving a second plane equation x for said second planes2(x-xc)+ys2(y-yc)+zs2(z-zc) Constructing a second function g (x, y, z) as 0; wherein g (x, y, z) ═ xs2(x-xc)+ys2(y-yc)+zs2(z-zc) Said secondThe plane is defined by the third end coordinate C (x)c,yc,yc) The fourth end coordinate D (x)d,yd,yd) And the common perpendicular vector
Figure BDA0002329033760000043
Determining;
a function value solving module for solving the first end coordinate A (x)a,ya,za) Substituting the first function to solve a first function value fAThe second end coordinate B (x)b,yb,zb) Substituting the first function to solve a second function value fBThe third end coordinate C (x)c,yc,yc) Substituting the second function to solve a third function value gCThe fourth end coordinate D (x)d,yd,yd) Substituting the second function to solve a fourth function value gD；
A plumb-bob solving module for solving the first end coordinate A (x) according to the second plane equationa,ya,za) The second end coordinate B (x)b,yb,zb) Determining the first foot M (x)m,ym,zm) (ii) a The third end coordinate C (x) according to the first plane equationc,yc,yc) The fourth end coordinate D (x)d,yd,yd) Determining the second foot N (x)n,yn,zn)；
A shortest distance solving module for judging the first function value fAAnd the second function value fBProduct fAfBThe value of the third function value g is judgedCAnd the fourth function value gDProduct gCgDSolving the shortest distance epsilon according to the value of the value; wherein,
if fAfB<0 and gCgD<0, the shortest distance ε satisfies:
Figure BDA0002329033760000051
if fAfB>0 and gCgD>0, the shortest distance
Figure BDA0002329033760000052
If fAfB<0 and gCgD>0, the shortest distance
Figure BDA0002329033760000053
If fAfB>0 and gCgD<0, the shortest distance
Figure BDA0002329033760000054
And the danger alarm output module is used for responding to the condition that the shortest distance epsilon is smaller than the first threshold value, and outputting the danger alarm.
In this technical solution, when the first end coordinate a and the second end coordinate B are located on the same side of the second plane, the first function value fAAnd the second function value fBIf the vertical point M is the same as the safety control line, judging that the vertical point M is on the extension line of the safety control line; when the first function value fAAnd the second function value fBWhen the signals are different, the first end part coordinate A and the second end part coordinate B are positioned on two sides of the second plane, and the vertical point M is judged to be in the safety control line; similarly, the third end coordinate C and the fourth end coordinate D may be determined. By the technical scheme, whether the drop foot is in the line segment of the control line can be effectively known, when the drop foot is in the control line, the out-of-plane distance is the shortest distance, and when the drop foot is not in the control line, judgment is carried out according to actual conditions so as to obtain the corresponding shortest distance epsilon.
In a specific embodiment, the shortest distance solving module is further configured to determine the first function value fAAnd the second function value fBProduct fAfBThe magnitude of the value; judging the third function value gCAnd the fourth function value gDProduct gCgDSolving the shortest distance epsilon according to the value of the value; wherein,
if fAfB<0 and gCgD<0, the shortest distance ε satisfies:
Figure BDA0002329033760000061
if fAfB>0 and gCgD>0, the shortest distance
Figure BDA0002329033760000062
If fAfB<0 and gCgD>0, the shortest distance
Figure BDA0002329033760000063
If fAfB>0 and gCgD<0, the shortest distance
Figure BDA0002329033760000064
In this technical solution, when the first end coordinate a and the second end coordinate B are located on the same side of the second plane, the first function value fAAnd the second function value fBIf the vertical point M is the same as the safety control line, judging that the vertical point M is on the extension line of the safety control line; when the first function value fAAnd the second function value fBWhen the signals are different, the first end part coordinate A and the second end part coordinate B are positioned on two sides of the second plane, and the vertical point M is judged to be in the safety control line; similarly, the third end coordinate C and the fourth end coordinate D may be determined. By the technical scheme, whether the drop foot is in the line segment of the control line can be effectively known, when the drop foot is in the control line, the out-of-plane distance is the shortest distance, and when the drop foot is not in the control line, judgment is carried out according to actual conditions so as to obtain the corresponding shortest distance epsilon.
In a specific embodiment, hoist and mount dangerous early warning module still includes:
the non-coplanar linear distance solving module is used for solving the length of the vertical distance between the line of the safety control line and the line of the danger control line
Figure BDA0002329033760000071
The above-mentioned
Figure BDA0002329033760000072
Satisfies the following conditions:
Figure BDA0002329033760000073
in the technical scheme, the out-of-plane distance between the safety control line and the danger control line is solved.
In a specific embodiment, the first plane solving module includes:
a first planar normal solving unit for solving the first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) And the common perpendicular vector
Figure BDA0002329033760000074
Solving a first normal of the first plane
Figure BDA0002329033760000075
The above-mentioned
Figure BDA0002329033760000076
The above-mentioned
Figure BDA0002329033760000077
A first plane equation solving unit for solving the first end coordinate A (x)a,ya,za) And the first normal direction
Figure BDA0002329033760000078
Obtaining the first plane equation: x is the number ofs1(x-xa)+ys1(y-ya)+zs1(z-za)＝0；
The second plane solving module comprises:
a second planar normal solving unit for solving the second planar normal coordinate C (x) according to the third end coordinate C (x)c,yc,yc) The fourth end coordinate D (x)d,yd,yd) And the common perpendicular vector
Figure BDA0002329033760000081
Solving a second normal to the second plane
Figure BDA0002329033760000082
The above-mentioned
Figure BDA0002329033760000083
The above-mentioned
Figure BDA0002329033760000084
A second plane equation solving unit for solving the second end coordinate C (x)c,yc,yc) And the second normal direction
Figure BDA0002329033760000085
Obtaining the second plane equation: x is the number ofs2(x-xc)+ys2(y-yc)+zs2(z-zc)＝0。
In one embodiment, the first drop foot M (x)m,ym,zm) Satisfies the following conditions:
Figure BDA0002329033760000086
the second drop foot N (x)n,yn,zn) Satisfies the following conditions:
Figure BDA0002329033760000087
in a specific embodiment, the system further comprises: a threshold setting module; the threshold setting module comprises:
the equipment parameter input unit is used for inputting the structural parameters of the substation equipment; the structural parameters comprise shape and size;
and the threshold setting unit is used for setting the first threshold according to the structural parameters.
Specifically, the first threshold value is set to be larger as the size of the substation device is larger; in an actual scene, the first threshold value can be set according to actual needs.
In a specific embodiment, the backend server further includes:
and the control module is used for controlling the suspender of the hoisting equipment to stop moving according to the danger alarm.
The invention has the beneficial effects that: 1) according to the method, the safety control line and the danger control line are set, the positioners are arranged at the two ends of the control line so as to obtain the positions of the two ends of each control line, the shortest distance between the safety control line and the danger control line is solved, whether the distance between the safety control line and the danger control line is smaller than a first threshold value or not is judged, and when the distance between the safety control line and the danger control line is smaller than the first threshold value, a danger alarm is given out to remind constructors that the distance between hoisting equipment and original facilities in the environment is short, and the risk of collision exists, so that. 2) In the invention, when the first end part coordinate A and the second end part coordinate B are positioned on the same side of the second plane, the first function value fAAnd the second function value fBIf the vertical point M is the same as the safety control line, judging that the vertical point M is on the extension line of the safety control line; when the first function value fAAnd the second function value fBWhen the signals are different, the first end part coordinate A and the second end part coordinate B are positioned on two sides of the second plane, and the vertical point M is judged to be in the safety control line; similarly, the third end coordinate C and the fourth end coordinate D may be determined. Through the technical scheme, whether the drop foot is in the line segment of the control line can be effectively known, when the drop foot is in the control line, the out-of-plane distance is the shortest distance, and when the drop foot is not in the control line, the judgment is carried out according to the actual situation so as to obtain the corresponding shortest distanceThe distance epsilon.
Drawings
Fig. 1 is a system block diagram of a substation hoisting system based on wireless communication according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for controlling hoisting of substation equipment according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a hoist system provided in an embodiment of the present invention;
FIG. 4 is a diagram illustrating the relationship between the position of a safety control line and a hazard control line of a hoisting system according to an embodiment of the present invention;
fig. 5 is a diagram illustrating the relationship between the position of the safety control line and the position of the hazard control line of the hoisting system according to another embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1 to 5, in a first embodiment of the present invention, a substation equipment hoisting control method is provided, the method is used for controlling a hoisting device to carry substation equipment, and the method includes:
step S1, installing first positioners at two ends of a control line to be protected in the transformer substation according to the field environment information of the transformer substation, and forming a safety control line; the field environment information includes: the system comprises an in-station electric wire line, an in-station electric tower and in-station equipment; the first positioners are respectively arranged at two ends of the in-station electric wire circuit, the top and the bottom of the in-station electric tower and the top surface corner and the bottom surface corner of the in-station equipment; the safety control line includes: the line segment of the station electric wire line, the connecting line of the top and the bottom of the station electric tower and the sideline of the station equipment;
step S2, mounting second positioners at two ends of a suspender of the hoisting equipment and the bottom of the first equipment hoisted below the hook, and forming a hazard source control line; the hazard control line includes: a line segment formed by the second positioners at the two ends of the suspender and a line segment formed by the top of the suspender and the bottom of the first device hoisted below the hook;
step S3, obtaining coordinates of two end portions of each safety control line according to the position information of each first locator in the substation: first end coordinate A (x)a,ya,za) And second end coordinates B (x)b,yb,zb)；
Step S4, collecting the position information of the second positioner in real time, and acquiring coordinates of two end portions of each hazard source control line: third end coordinate C (x)c,yc,yc) And fourth end coordinates D (x)d,yd,yd)；
Step S5, according to the first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) The third end coordinate C (x)c,yc,yc) And the fourth end coordinate D (x)d,yd,yd) Solving the shortest distance epsilon between the safety control line and the dangerous source control line; and if the shortest distance epsilon is less than a first threshold value, outputting a danger alarm.
In this embodiment, through setting for safety control line and dangerous control line to set up the locator so that obtain the both ends position of each control line at the control line both ends, and solve the shortest distance between safety control line and the dangerous control line, judge whether distance between the two is less than first threshold value, when being less than first threshold value, send out dangerous alarm, remind constructor lifting device original facility distance in with the environment near, the risk that has collided, so that constructor notices construction safety.
In this embodiment, in step S5, the solving the shortest distance epsilon between the safety control line and the hazard control line includes:
step S51, according to the first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) The third end partCoordinate C (x)c,yc,yc) And the fourth end coordinate D (x)d,yd,yd) Solving the common vertical line vector
Figure BDA0002329033760000111
The common vertical line vector
Figure BDA0002329033760000112
Satisfies the following conditions:
Figure BDA0002329033760000113
the above-mentioned
Figure BDA0002329033760000114
Is the first end coordinate A (x)a,ya,za) Point to the second end coordinate B (x)b,yb,zb) The formed safety control line vector; the above-mentioned
Figure BDA0002329033760000115
Is the third end coordinate C (x)c,yc,yc) Pointing to the fourth end coordinate D (x)d,yd,yd) The formed hazard control line vector; the above-mentioned
Figure BDA0002329033760000121
The specific derivation formula is as follows:
Figure BDA0002329033760000122
step S52, obtaining a first normal vector of a first plane, and obtaining the first normal vector and the first end coordinate a (x) according to the first normal vector and the first end coordinate aa,ya,za) Solving a first plane equation x for said first planes1(x-xa)+ys1(y-ya)+zs1(z-za) Constructing a first function f (x, y, z) as 0; wherein f (x, y, z) ═ xs1(x-xa)+ys1(y-ya)+zs1(z-za) Said first plane is defined by said first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) And the common perpendicular vector
Figure BDA0002329033760000123
Determining;
step S53, obtaining a second normal vector of a second plane, and obtaining the second normal vector and the third end coordinate C (x) according to the second normal vector and the third end coordinate C (x)c,yc,yc) Solving a second plane equation x for said second planes2(x-xc)+ys2(y-yc)+zs2(z-zc) Constructing a second function g (x, y, z) as 0; wherein g (x, y, z) ═ xs2(x-xc)+ys2(y-yc)+zs2(z-zc) Said second plane is defined by said third end coordinate C (x)c,yc,yc) The fourth end coordinate D (x)d,yd,yd) And the common perpendicular vector
Figure BDA0002329033760000124
Determining;
step S54, converting the first end coordinate A (x)a,ya,za) Substituting the first function into the first function to solve a first function value fA(ii) a The second end coordinate B (x)b,yb,zb) Substituting the first function into the first function to solve a second function value fB(ii) a Coordinate C (x) of the third end partc,yc,yc) Substituting the second function into the first function to solve a third function value gC(ii) a Coordinate D (x) of the fourth end partd,yd,yd) Substituting the second function into the first function to solve a fourth function value gD；
Step S55, according to the second plane equation, the first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) Determining the firstA drop foot M (x)m,ym,zm) (ii) a The third end coordinate C (x) according to the first plane equationc,yc,yc) The fourth end coordinate D (x)d,yd,yd) Determining the second foot N (x)n,yn,zn)；
Step S56, judging the first function value fAAnd the second function value fBProduct fAfBSolving the shortest distance epsilon according to the value of the value; judging the third function value gCAnd the fourth function value gDProduct gCgDThe magnitude of the value; wherein,
if fAfB<0 and gCgD<0, the shortest distance ε satisfies:
Figure BDA0002329033760000131
if fAfB>0 and gCgD>0, the shortest distance
Figure BDA0002329033760000132
If fAfB<0 and gCgD>0, the shortest distance
Figure BDA0002329033760000133
If fAfB>0 and gCgD<0, the shortest distance
Figure BDA0002329033760000134
And step S57, responding to the shortest distance epsilon being less than the first threshold value, and outputting the danger alarm.
Schematically, in FIG. 4, the first drop foot M (x)m,ym,zm) Within the safety control line segment, a second foot N (x)n,yn,zn) Also within the critical control line segment; and in FIG. 5, theA drop foot M (x)m,ym,zm) Outside the safety control line segment, a second foot N (x)n,yn,zn) Within the critical control line segment.
In this embodiment, when the first end coordinate a and the second end coordinate B are located on the same side of the second plane, the first function value f is obtainedAAnd the second function value fBIf the vertical point M is the same as the safety control line, judging that the vertical point M is on the extension line of the safety control line; when the first function value fAAnd the second function value fBWhen the signals are different, the first end part coordinate A and the second end part coordinate B are positioned on two sides of the second plane, and the vertical point M is judged to be in the safety control line; similarly, the third end coordinate C and the fourth end coordinate D may be determined. Through the embodiment, whether the vertical feet are in the line segment of the control line or not can be effectively obtained, when the vertical feet are in the control line, the non-coplanar distance is the shortest distance, and when the vertical feet are not in the control line, judgment is carried out according to the actual situation so as to obtain the corresponding shortest distance epsilon.
It is worth mentioning that the distance between the safety control line and the hazard control line in step S56 can be divided into four cases: 1) when two perpendicular points of a common perpendicular line of the straight line where the safety control line is located and the straight line where the danger control line is located are located on the safety control line and the danger control line respectively, a connecting line of the two perpendicular points is the shortest distance between the safety control line and the danger control line, and the hoisting system is safe only when the shortest distance is larger than or equal to a first threshold value; 2) when two perpendicular points of the common perpendicular line of the straight line where the safety control line is located and the straight line where the danger control line is located are respectively arranged on the extension lines of the safety control line and the danger control line, the shortest distance is always the connection line of the end points, and the shortest distance
Figure BDA0002329033760000141
3) When one vertical point of the public vertical line of the straight line where the safety control line is located and the straight line where the dangerous control line is located is on the safety control line and the other vertical point is located on the extension line of the dangerous control line, the shortest distance
Figure BDA0002329033760000151
4) When one vertical point of the public vertical line of the straight line where the safety control line is located and the straight line where the dangerous control line is located is on the extension line of the safety control line and the other vertical point is located on the dangerous control line, the shortest distance
Figure BDA0002329033760000152
Alternatively, in another embodiment, the step S56 in the first embodiment may be replaced by:
step S56, judging the first function value fAAnd the second function value fBProduct fAfBThe magnitude of the value; judging the third function value gCAnd the fourth function value gDProduct gCgDSolving the shortest distance epsilon according to the value of the value; wherein,
if fAfB<0 and gCgD<0, the shortest distance ε satisfies:
Figure BDA0002329033760000153
if fAfB>0 and gCgD>0, the shortest distance
Figure BDA0002329033760000154
If fAfB<0 and gCgD>0, the shortest distance
Figure BDA0002329033760000155
If fAfB>0 and gCgD<0, the shortest distance
Figure BDA0002329033760000156
In this alternative embodiment, the first function value f is obtained when the first end coordinate a and the second end coordinate B are located on the same side of the second planeAAnd the second function value fBOn the same sign, the vertical is judgedPoint M is on the extension of the safety control line; when the first function value fAAnd the second function value fBWhen the signals are different, the first end part coordinate A and the second end part coordinate B are positioned on two sides of the second plane, and the vertical point M is judged to be in the safety control line; similarly, the third end coordinate C and the fourth end coordinate D may be determined. In the alternative embodiment, whether the drop foot is in the line segment of the control line can be effectively known, when the drop foot is in the control line, the out-of-plane distance is the shortest distance, and when the drop foot is not in the control line, judgment is carried out according to the actual situation so as to obtain the corresponding shortest distance epsilon.
It is worth mentioning that the distance between the safety control line and the hazard control line in step S56 can be divided into four cases: 1) when two perpendicular points of a common perpendicular line of the straight line where the safety control line is located and the straight line where the danger control line is located are located on the safety control line and the danger control line respectively, a connecting line of the two perpendicular points is the shortest distance between the safety control line and the danger control line, and the hoisting system is safe only when the shortest distance is larger than or equal to a first threshold value; 2) when two perpendicular points of a common perpendicular line of the straight line where the safety control line is located and the straight line where the danger control line is located are respectively arranged on the safety control line and the extension line of the danger control line, the connecting line distance between the end part, which is closer to the second plane, in the first end part coordinate A and the second end part coordinate B and the end part, which is closer to the first plane, in the third end part coordinate C and the fourth end part coordinate D is the shortest distance between the safety control line and the danger control line; 3) when one vertical point of the public vertical line of the straight line where the safety control line is located and the straight line where the dangerous control line is located is on the safety control line and the other vertical point is located on the extension line of the dangerous control line, the shortest distance
Figure BDA0002329033760000161
4) When one vertical point of the public vertical line of the straight line where the safety control line is located and the straight line where the dangerous control line is located is on the extension line of the safety control line and the other vertical point is located on the dangerous control line, the shortest distance
Figure BDA0002329033760000171
In the first embodiment, in the step S5, the method further includes:
step S5A, solving the length of the vertical distance between the straight line of the safety control line and the straight line of the danger control line
Figure BDA0002329033760000172
The above-mentioned
Figure BDA0002329033760000173
Satisfies the following conditions:
Figure BDA0002329033760000174
in this embodiment, the out-of-plane distance between the safety control line and the hazard control line is solved.
In this embodiment, the step S52 includes:
step S521, according to the first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) And the common perpendicular vector
Figure BDA0002329033760000175
Solving a first normal of the first plane
Figure BDA0002329033760000176
The above-mentioned
Figure BDA0002329033760000177
The above-mentioned
Figure BDA0002329033760000178
Step S522, according to the first end coordinate A (x)a,ya,za) And the first normal direction
Figure BDA0002329033760000179
Obtaining the first plane equation: x is the number ofs1(x-xa)+ys1(y-ya)+zs1(z-za)＝0。
In this embodiment, the step S53 includes:
step S531, according to the third end coordinate C (x)c,yc,yc) The fourth end coordinate D (x)d,yd,yd) And the common perpendicular vector
Figure BDA00023290337600001710
Solving a second normal to the second plane
Figure BDA00023290337600001711
The above-mentioned
Figure BDA00023290337600001712
The above-mentioned
Figure BDA00023290337600001713
Step S532, according to the second end coordinate C (x)c,yc,yc) And the second normal direction
Figure BDA0002329033760000181
Obtaining the second plane equation: x is the number ofs2(x-xc)+ys2(y-yc)+zs2(z-zc)＝0。
In this embodiment, in the step S55, the first drop foot M (x)m,ym,zm) Satisfies the following conditions:
Figure BDA0002329033760000182
the second drop foot N (x)n,yn,zn) Satisfies the following conditions:
Figure BDA0002329033760000183
in this embodiment, the method further includes:
inputting structural parameters of the substation equipment; the structural parameters comprise shape and size;
and setting the first threshold value according to the structural parameter.
Specifically, the first threshold value is set to be larger as the size of the substation device is larger; in an actual scene, the first threshold value can be set according to actual needs.
In this embodiment, the boom of the lifting device is controlled to stop moving according to the danger alarm.
As shown in fig. 1 to 5, in a second embodiment of the present invention, there is provided a substation hoisting system based on wireless communication, the system comprising:
hoisting equipment 100; the hoisting equipment 100 comprises a suspender 101, a lifting rope 102 and a hook 103;
a first positioner 301; the first positioner 301 is arranged at two ends of a control line to be protected in the transformer substation according to the real-site environment information of the transformer substation, and forms a safety control line; the field environment information includes: the system comprises an in-station electric wire line, an in-station electric tower and in-station equipment; the first locators 301 are respectively arranged at two ends of the in-station electric wire circuit, the top and the bottom of the in-station electric tower and the top surface corner and the bottom surface corner of the in-station equipment; the safety control line includes: the line segment of the station electric wire line, the connecting line of the top and the bottom of the station electric tower and the sideline of the station equipment;
a second locator 302; the second locators 302 are arranged at two ends of the hanger rod 101 of the hoisting device 100 and at the bottom of the first device hoisted below the hook 103, and form a hazard source control line; the hazard control line includes: a line segment formed by the second positioner 302 at both ends of the boom 101 and a line segment formed by the top of the boom 101 and the bottom of the first device hoisted below the hook 103;
and a back-end server 200; the backend server 200 includes:
a communication module 210; the communication module 210 is in communication connection with the hoisting device 100, the first positioner 301 and the second positioner 302;
the environment position acquisition module 220 is configured to acquire coordinates of two end portions of each safety control line according to position information of each first locator 301 in the substation: first end coordinate A (x)a,ya,za) And second end coordinates B (x)b,yb,zb)；
The hoisting position acquisition module 230 is configured to acquire position information of the second positioner 302 in real time, and acquire coordinates of two end portions of each of the hazard source control lines: third end coordinate C (x)c,yc,yc) And fourth end coordinates D (x)d,yd,yd)；
A hoisting danger early warning module 240 for hoisting danger according to the first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) The third end coordinate C (x)c,yc,yc) And the fourth end coordinate D (x)d,yd,yd) Solving the shortest distance epsilon between the safety control line and the dangerous source control line; and if the shortest distance epsilon is less than a first threshold value, outputting a danger alarm.
In this embodiment, through setting for safety control line and dangerous control line to set up the locator so that obtain the both ends position of each control line at the control line both ends, and solve the shortest distance between safety control line and the dangerous control line, judge whether distance between the two is less than first threshold value, when being less than first threshold value, send out dangerous alarm, remind constructor lifting device 100 to be nearer with the original facility distance in the environment, the risk that has collided exists, so that constructor notices construction safety.
In this embodiment, the hoisting danger early warning module 240 includes
A control line plumb line solving module 241 for solving for the first end coordinate A (x)a,ya,za) The second end coordinate B(xb,yb,zb) The third end coordinate C (x)c,yc,yc) And the fourth end coordinate D (x)d,yd,yd) Solving the common vertical line vector
Figure BDA0002329033760000201
The common vertical line vector
Figure BDA0002329033760000202
Satisfies the following conditions:
Figure BDA0002329033760000203
the above-mentioned
Figure BDA0002329033760000204
Is the first end coordinate A (x)a,ya,za) Point to the second end coordinate B (x)b,yb,zb) The formed safety control line vector; the above-mentioned
Figure BDA0002329033760000205
Is the third end coordinate C (x)c,yc,yc) Pointing to the fourth end coordinate D (x)d,yd,yd) The formed hazard control line vector; the above-mentioned
Figure BDA0002329033760000206
The specific derivation formula is as follows:
Figure BDA0002329033760000207
Figure BDA0002329033760000211
a first plane solving module 242, configured to obtain a first normal vector of a first plane, according to the first normal vector and the first end coordinate a (x)a,ya,za) Solving a first plane equation x for said first planes1(x-xa)+ys1(y-ya)+zs1(z-za) Constructing a first function f (x, y, z) as 0; wherein f (x, y, z) ═ xs1(x-xa)+ys1(y-ya)+zs1(z-za) Said first plane is defined by said first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) And the common perpendicular vector
Figure BDA0002329033760000212
Determining;
a second plane solving module 243, configured to obtain a second normal vector of a second plane, and obtain a second normal vector and the third end coordinate C (x) according to the second normal vector and the third end coordinate C (x)c,yc,yc) Solving a second plane equation x for said second planes2(x-xc)+ys2(y-yc)+zs2(z-zc) Constructing a second function g (x, y, z) as 0; wherein g (x, y, z) ═ xs2(x-xc)+ys2(y-yc)+zs2(z-zc) Said second plane is defined by said third end coordinate C (x)c,yc,yc) The fourth end coordinate D (x)d,yd,yd) And the common perpendicular vector
Figure BDA0002329033760000213
Determining;
a function value solving module 244 for solving the first end coordinate A (x)a,ya,za) Substituting the first function to solve a first function value fAThe second end coordinate B (x)b,yb,zb) Substituting the first function to solve a second function value fBThe third end coordinate C (x)c,yc,yc) Substituting the second function to solve a third function value gCThe fourth end coordinate D (x)d,yd,yd) Substituting the second function to solve a fourth functionValue gD；
A plumb-bob solving module 245 for solving the first end coordinate A (x) according to the second plane equationa,ya,za) The second end coordinate B (x)b,yb,zb) Determining the first foot M (x)m,ym,zm) (ii) a The third end coordinate C (x) according to the first plane equationc,yc,yc) The fourth end coordinate D (x)d,yd,yd) Determining the second foot N (x)n,yn,zn)；
A shortest distance solving module 246 for determining the first function value fAAnd the second function value fBProduct fAfBThe value of the third function value g is judgedCAnd the fourth function value gDProduct gCgDSolving the shortest distance epsilon according to the value of the value; wherein,
if fAfB<0 and gCgD<0, the shortest distance ε satisfies:
Figure BDA0002329033760000221
if fAfB>0 and gCgD>0, the shortest distance
Figure BDA0002329033760000222
If fAfB<0 and gCgD>0, the shortest distance
Figure BDA0002329033760000223
If fAfB>0 and gCgD<0, the shortest distance
Figure BDA0002329033760000224
A danger alarm output module 247 configured to output the danger alarm in response to the shortest distance epsilon being less than the first threshold.
Schematically, in FIG. 4, the first drop foot M (x)m,ym,zm) Within the safety control line segment, a second foot N (x)n,yn,zn) Also within the critical control line segment; while in FIG. 5, the first drop foot M (x)m,ym,zm) Outside the safety control line segment, a second foot N (x)n,yn,zn) Within the critical control line segment.
In this embodiment, when the first end coordinate a and the second end coordinate B are located on the same side of the second plane, the first function value f is obtainedAAnd the second function value fBIf the vertical point M is the same as the safety control line, judging that the vertical point M is on the extension line of the safety control line; when the first function value fAAnd the second function value fBWhen the signals are different, the first end part coordinate A and the second end part coordinate B are positioned on two sides of the second plane, and the vertical point M is judged to be in the safety control line; similarly, the third end coordinate C and the fourth end coordinate D may be determined. The embodiment can effectively know whether the vertical feet are in the line segment of the control line, when the vertical feet are in the control line, the non-coplanar distance is the shortest distance, and when the vertical feet are not in the control line, the judgment is carried out according to the actual situation so as to obtain the corresponding shortest distance epsilon.
It is worth mentioning that the distance between the safety control line and the hazard control line in step S56 can be divided into four cases: 1) when two perpendicular points of a common perpendicular line of the straight line where the safety control line is located and the straight line where the danger control line is located are located on the safety control line and the danger control line respectively, a connecting line of the two perpendicular points is the shortest distance between the safety control line and the danger control line, and the hoisting system is safe only when the shortest distance is larger than or equal to a first threshold value; 2) when two perpendicular points of the common perpendicular line of the straight line where the safety control line is located and the straight line where the danger control line is located are respectively arranged on the extension lines of the safety control line and the danger control line, the shortest distance is always the connection line of the end points, and the shortest distance
Figure BDA0002329033760000231
3) When one vertical point of the public vertical line of the straight line where the safety control line is located and the straight line where the dangerous control line is located is on the safety control line and the other vertical point is located on the extension line of the dangerous control line, the shortest distance
Figure BDA0002329033760000232
4) When one vertical point of the public vertical line of the straight line where the safety control line is located and the straight line where the dangerous control line is located is on the extension line of the safety control line and the other vertical point is located on the dangerous control line, the shortest distance
Figure BDA0002329033760000233
In yet another alternative embodiment, another way is used to solve for the shortest distance ε; optionally, the shortest distance solving module 246 is further configured to determine the first function value fAAnd the second function value fBProduct fAfBThe magnitude of the value; judging the third function value gCAnd the fourth function value gDProduct gCgDSolving the shortest distance epsilon according to the value of the value; wherein,
if fAfB<0 and gCgD<0, the shortest distance ε satisfies:
Figure BDA0002329033760000241
if fAfB>0 and gCgD>0, the shortest distance
Figure BDA0002329033760000242
If fAfB<0 and gCgD>0, the shortest distance
Figure BDA0002329033760000243
If fAfB>0 and gCgD<0, the shortest distance
Figure BDA0002329033760000244
In this alternative embodiment, the first function value f is obtained when the first end coordinate a and the second end coordinate B are located on the same side of the second planeAAnd the second function value fBIf the vertical point M is the same as the safety control line, judging that the vertical point M is on the extension line of the safety control line; when the first function value fAAnd the second function value fBWhen the signals are different, the first end part coordinate A and the second end part coordinate B are positioned on two sides of the second plane, and the vertical point M is judged to be in the safety control line; similarly, the third end coordinate C and the fourth end coordinate D may be determined. In the embodiment, whether the drop foot is in the line segment of the control line can be effectively known, when the drop foot is in the control line, the out-of-plane distance is the shortest distance, and when the drop foot is not in the control line, the judgment is carried out according to the actual situation so as to obtain the corresponding shortest distance epsilon.
It is worth mentioning that the distance between the safety control line and the hazard control line in step S56 can be divided into four cases: 1) when two perpendicular points of a common perpendicular line of the straight line where the safety control line is located and the straight line where the danger control line is located are located on the safety control line and the danger control line respectively, a connecting line of the two perpendicular points is the shortest distance between the safety control line and the danger control line, and the hoisting system is safe only when the shortest distance is larger than or equal to a first threshold value; 2) when two perpendicular points of a common perpendicular line of the straight line where the safety control line is located and the straight line where the danger control line is located are respectively arranged on the safety control line and the extension line of the danger control line, the connecting line distance between the end part, which is closer to the second plane, in the first end part coordinate A and the second end part coordinate B and the end part, which is closer to the first plane, in the third end part coordinate C and the fourth end part coordinate D is the shortest distance between the safety control line and the danger control line; 3) when one vertical point of the public vertical line of the straight line where the safety control line is located and the straight line where the dangerous control line is located is on the safety control line and the other vertical point is located on the extension line of the dangerous control line, the shortest distance
Figure BDA0002329033760000251
4) When one vertical point of the public vertical line of the straight line where the safety control line is located and the straight line where the dangerous control line is located is on the extension line of the safety control line and the other vertical point is located on the dangerous control line, the shortest distance
Figure BDA0002329033760000252
In this embodiment, hoist and mount danger early warning module 240 still includes:
the non-coplanar linear distance solving module is used for solving the length of the vertical distance between the line of the safety control line and the line of the danger control line
Figure BDA0002329033760000253
The above-mentioned
Figure BDA0002329033760000254
Satisfies the following conditions:
Figure BDA0002329033760000261
in this embodiment, the out-of-plane distance between the safety control line and the hazard control line is solved.
In this embodiment, the first plane solving module 242 includes:
a first planar normal solving unit for solving the first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) And the common perpendicular vector
Figure BDA0002329033760000262
Solving a first normal of the first plane
Figure BDA0002329033760000263
The above-mentioned
Figure BDA0002329033760000264
The above-mentioned
Figure BDA0002329033760000265
A first plane equation solving unit for solving the first end coordinate A (x)a,ya,za) And the first normal direction
Figure BDA0002329033760000266
Obtaining the first plane equation: x is the number ofs1(x-xa)+ys1(y-ya)+zs1(z-za)＝0。
The second plane solving module 243 includes:
a second planar normal solving unit for solving the second planar normal coordinate C (x) according to the third end coordinate C (x)c,yc,yc) The fourth end coordinate D (x)d,yd,yd) And the common perpendicular vector
Figure BDA0002329033760000267
Solving a second normal to the second plane
Figure BDA0002329033760000268
The above-mentioned
Figure BDA0002329033760000269
The above-mentioned
Figure BDA00023290337600002610
A second plane equation solving unit for solving the second end coordinate C (x)c,yc,yc) And the second normal direction
Figure BDA00023290337600002611
Obtaining the second plane equation: x is the number ofs2(x-xc)+ys2(y-yc)+zs2(z-zc)＝0。
In the present embodiment, the first drop foot M (x)m,ym,zm) Satisfies the following conditions:
Figure BDA0002329033760000271
the second drop foot N (x)n,yn,zn) Satisfies the following conditions:
Figure BDA0002329033760000272
in this embodiment, the system further includes: a threshold setting module 400; the threshold setting module 400 includes:
the equipment parameter input unit is used for inputting the structural parameters of the substation equipment; the structural parameters comprise shape and size;
and the threshold setting unit is used for setting the first threshold according to the structural parameters.
Specifically, the first threshold value is set to be larger as the size of the substation device is larger; in an actual scene, the first threshold value can be set according to actual needs.
In this embodiment, the backend server 200 further includes:
a control module 250 for controlling the boom 101 of the lifting device 100 to stop moving according to the danger alarm.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (7)

1. A transformer substation hoisting system based on wireless communication is characterized in that the system comprises:
hoisting equipment; the hoisting equipment comprises a suspender, a lifting rope and a lifting hook;
a first positioner; the first positioner is arranged at two ends of a control line to be protected in the transformer substation according to the field environment information of the transformer substation, and forms a safety control line; the field environment information includes: the system comprises an in-station electric wire line, an in-station electric tower and in-station equipment; the first positioners are respectively arranged at two ends of the in-station electric wire circuit, the top and the bottom of the in-station electric tower and the top surface corner and the bottom surface corner of the in-station equipment; the safety control line includes: the line segment of the station electric wire line, the connecting line of the top and the bottom of the station electric tower and the sideline of the station equipment;
a second positioner; the second positioner is arranged at two ends of a suspender of the hoisting equipment and the bottom of the first equipment hoisted below the hook, and forms a hazard source control line; the hazard control line includes: a line segment formed by the second positioners at the two ends of the suspender and a line segment formed by the top of the suspender and the bottom of the first device hoisted below the hook;
and a back-end server; the back-end server includes:
a communication module; the communication module is in communication connection with the hoisting equipment, the first positioner and the second positioner;
the environment position acquisition module is used for acquiring the coordinates of two end parts of each safety control line according to the position information of each first positioner in the transformer substation: first end coordinate A (x)a,ya,za) And second end coordinates B (x)b,yb,zb)；
And the hoisting position acquisition module is used for acquiring the position information of the second positioner in real time and acquiring the coordinates of two end parts of each hazard source control line: third end coordinate C (x)c,yc,yc) And fourth end coordinates D (x)d,yd,yd)；
A hoisting danger early warning module used for hoisting danger according to the first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) The third end coordinate C (x)c,yc,yc) And the fourth end coordinate D (x)d,yd,yd) Solving the shortest distance epsilon between the safety control line and the dangerous source control line; and if the shortest distance epsilon is less than a first threshold value, outputting a danger alarm.
2. The substation hoisting system based on wireless communication of claim 1, wherein the hoisting danger early warning module comprises
A control line plumb line solving module for solving the control line plumb line according to the first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) The third end coordinate C (x)c,yc,yc) And the fourth end coordinate D (x)d,yd,yd) Solving the common vertical line vector
Figure FDA0002825681420000021
The common vertical line vector
Figure FDA0002825681420000022
Satisfies the following conditions:
Figure FDA0002825681420000023
the above-mentioned
Figure FDA0002825681420000024
Is the first end coordinate A (x)a,ya,za) Point to the second end coordinate B (x)b,yb,zb) The formed safety control line vector; the above-mentioned
Figure FDA0002825681420000025
Is the third end coordinate C (x)c,yc,yc) Pointing to the fourth end coordinate D (x)d,yd,yd) The formed hazard control line vector; the above-mentioned
Figure FDA0002825681420000026
A first plane solving module for obtaining a first normal vector of the first plane
Figure FDA0002825681420000027
According to the first normal vector and the first end coordinate A (x)a,ya,za) Solving a first plane equation x for said first planes1(x-xa)+ys1(y-ya)+zs1(z-za) Constructing a first function f (x, y, z) as 0; wherein f (x, y, z) ═ xs1(x-xa)+ys1(y-ya)+zs1(z-za) Said first plane is defined by said first end coordinate A (x)a,ya,za) The second end coordinate B (x)b,yb,zb) And the common perpendicular vector
Figure FDA0002825681420000028
Determining; the above-mentioned
Figure FDA0002825681420000029
The above-mentioned
Figure FDA00028256814200000210
A second plane solving module for obtaining a second normal vector of the second plane
Figure FDA0002825681420000031
According to the second normal vector and the third end coordinate C (x)c,yc,yc) Solving a second plane equation x for said second planes2(x-xc)+ys2(y-yc)+zs2(z-zc) Constructing a second function g (x, y, z) as 0; wherein g (x, y, z) ═ xs2(x-xc)+ys2(y-yc)+zs2(z-zc) Said second plane is defined by said third end coordinate C (x)c,yc,yc) The fourth end coordinate D (x)d,yd,yd) And the common perpendicular vector
Figure FDA0002825681420000032
Determining; the above-mentioned
Figure FDA0002825681420000033
The above-mentioned
Figure FDA0002825681420000034
A function value solving module for solving the first end coordinate A (x)a,ya,za) Substituting the first function to solve a first function value fAThe second end coordinate B (x)b,yb,zb) Substituting the first function to solve a second function value fBThe third end coordinate C (x)c,yc,yc) Substituting the second function to solve a third function value gCThe fourth end coordinate D (x)d,yd,yd) Substituting the second function to solve a fourth function value gD；
A plumb-bob solving module for solving the first end coordinate A (x) according to the second plane equationa,ya,za) The second end coordinate B (x)b,yb,zb) Determining the first foot M (x)m,ym,zm) (ii) a The third end coordinate C (x) according to the first plane equationc,yc,yc) The fourth end coordinate D (x)d,yd,yd) Determining the second foot N (x)n,yn,zn)；
A shortest distance solving module for judging the first function value fAAnd the second function value fBProduct fAfBThe value of the third function value g is judgedCAnd the fourth function value gDProduct gCgDSolving the shortest distance epsilon according to the value of the value; wherein,
if fAfB< 0 and gCgDIf < 0, the shortest distance ε is satisfied:
Figure FDA0002825681420000035
if fAfB> 0 and gCgDIf greater than 0, the shortest distance
Figure FDA0002825681420000036
If fAfB< 0 and gCgDIf greater than 0, the shortest distance
Figure FDA0002825681420000037
If fAfB> 0 and gCgD< 0, the shortest distance
Figure FDA0002825681420000041
And the danger alarm output module is used for responding to the condition that the shortest distance epsilon is smaller than the first threshold value, and outputting the danger alarm.
3. The substation hoisting system based on wireless communication of claim 2, wherein the shortest distance solving module is further configured to determine the first function value fAAnd the second function value fBProduct fAfBThe magnitude of the value; judging the third function value gCAnd the fourth function value gDProduct gCgDSolving the shortest distance epsilon according to the value of the value; wherein,
if fAfB< 0 and gCgDIf < 0, the shortest distance ε is satisfied:
Figure FDA0002825681420000042
if fAfB> 0 and gCgDIf greater than 0, the shortest distance
Figure FDA0002825681420000043
If fAfB< 0 and gCgDIf greater than 0, the shortest distance
Figure FDA0002825681420000044
If fAfB> 0 and gCgD< 0, the shortest distance
Figure FDA0002825681420000045
4. The transformer substation hoisting system based on wireless communication of claim 2 or 3, wherein the hoisting danger early warning module further comprises:
the non-coplanar linear distance solving module is used for solving the length of the vertical distance between the line of the safety control line and the line of the danger control line
Figure FDA0002825681420000051
The above-mentioned
Figure FDA0002825681420000052
Satisfies the following conditions:
Figure FDA0002825681420000053
5. a substation hoisting system based on wireless communication according to claim 2 or 3, characterized in that the first foot M (x) ism,ym,zm) Satisfies the following conditions:
Figure FDA0002825681420000054
the second drop foot N (x)n,yn,zn) Satisfies the following conditions:
Figure FDA0002825681420000055
6. the wireless communication based substation hoisting system of claim 1, wherein the system further comprises: a threshold setting module; the threshold setting module comprises:
the equipment parameter input unit is used for inputting the structural parameters of the substation equipment; the structural parameters comprise shape and size;
and the threshold setting unit is used for setting the first threshold according to the structural parameters.
7. The wireless communication based substation hoisting system of claim 1, wherein the backend server further comprises:
and the control module is used for controlling the suspender of the hoisting equipment to stop moving according to the danger alarm.
CN201911328706.XA 2019-12-20 2019-12-20 Transformer substation lifting system based on wireless communication Active CN111137791B (en)

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