CN111563335A - Laser radar-based high-voltage isolating switch closing state detection method - Google Patents

Laser radar-based high-voltage isolating switch closing state detection method Download PDF

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CN111563335A
CN111563335A CN202010622228.XA CN202010622228A CN111563335A CN 111563335 A CN111563335 A CN 111563335A CN 202010622228 A CN202010622228 A CN 202010622228A CN 111563335 A CN111563335 A CN 111563335A
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included angle
isolating switch
voltage isolating
arm
conductive arm
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CN111563335B (en
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刘衍
薛桅
沈小军
张锐
彭诗怡
晏年平
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Shanghai Murong Electric Co ltd
State Grid Jiangxi Electric Power Co ltd Ruichang Power Supply Branch
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Jiangxi Electric Power Co Ltd
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Shanghai Murong Electric Co ltd
State Grid Jiangxi Electric Power Co ltd Ruichang Power Supply Branch
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Jiangxi Electric Power Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
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    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/327—Testing of circuit interrupters, switches or circuit-breakers
    • G01R31/3271—Testing of circuit interrupters, switches or circuit-breakers of high voltage or medium voltage devices
    • G01R31/3275—Fault detection or status indication
    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
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Abstract

The invention discloses a method for detecting the closing state of a high-voltage isolating switch based on a laser radar, which comprises the steps of establishing a geometric abstract model of the closing action process of the high-voltage isolating switch, providing a measurement algorithm of an included angle value between a front conductive arm or a rear conductive arm of the high-voltage isolating switch and the horizontal direction, scanning the high-voltage isolating switch through a ground laser radar to obtain point clouds of the conductive arms, and cutting the point clouds of the front conductive arm and the rear conductive arm on planes which are in a certain number and are vertical to any coordinate axis; designing and developing an automatic measuring and calculating module of the included angle of the conductive arm, wherein the automatic measuring and calculating module automatically measures and calculates the included angle value of the conductive arm; and judging the closing state of the high-voltage isolating switch. The feasibility and the advantage of judging the closing state by measuring the included angle of the conducting arm are demonstrated by analyzing the closing action process and the structural characteristics of the high-voltage isolating switch; the method for calculating the cylinder axis direction of the high-voltage isolating switch based on the point cloud data of the ground laser radar is provided, the point cloud is grouped and the ellipse is fitted, and the calculation difficulty is reduced.

Description

Laser radar-based high-voltage isolating switch closing state detection method
Technical Field
The invention relates to mechanical fault diagnosis of a high-voltage isolating switch, in particular to a method for detecting the closing state of the high-voltage isolating switch based on a laser radar.
Background
The high-voltage isolating switch drives the moving contact to realize contact and separation with the fixed contact by the operating mechanism. The high-voltage isolating switch is very easily influenced by the environment when the high-voltage isolating switch operates outdoors, and the operation and maintenance of the operating mechanism are not timely, so that the high-voltage isolating switch is not switched on in place due to rusting and jamming of the operating mechanism, a gap is formed, heating or even discharging is caused, the service life of equipment is influenced, and the safe operation of a power grid is threatened. However, the existing detection and diagnosis technology for the high-voltage isolating switch is lack, the experience judgment is mainly used, and the judgment of whether the high-voltage isolating switch is in a normal switching-on state completely depends on the subjective experience of personnel, so that the misjudgment is easily caused.
In view of the above problems, many researchers have developed typical fault analysis and detection methods for high-voltage isolating switches. Typical detection methods are: ultrasonic detection technology, vibrology method, stress strain detection method, infrared detection method, etc. for the break fault of the post insulator; the method is used for detecting the motor current, the operating torque and the like aiming at mechanical faults such as corrosion, jamming and the like of the operation of the high-voltage isolating switch. The motor current detection method mainly detects and analyzes the motor current change when the high-voltage isolating switch has mechanical fault, and is currently in a laboratory research stage; the operation torque detection method is used for detecting whether the high-voltage isolating switch is mechanically jammed or not by using a resistance strain measurement technology and is only suitable for occasions during power failure maintenance. The field operation experience shows that the defect that the on-site typical concealment and great harm are caused when the high-voltage isolating switch is not closed in place, and the method cannot accurately judge the on-site state of the high-voltage isolating switch under the operation condition. In order to help the on-site operation and maintenance to simply and intuitively judge the in-place state of the switch-on, a manufacturer generally recommends that the in-place state of the switch-on is evaluated in an auxiliary manner according to the spatial postures of the front and rear conductive arms of the high-voltage isolating switch, such as the included angle between the front and rear conductive arms and the horizontal direction, and the in-place state of the switch-on is explicitly written into a manufacturer. Unfortunately, due to the lack of advanced operable electrification detection technical means, visual inspection and qualitative judgment realized by means of operation experience are the main methods adopted on the spot at present, and although the safety of the high-voltage isolating switch is guaranteed to a certain extent, the defects are gradually exposed.
Therefore, there is a need to develop a method for detecting the closing state of a high-voltage isolating switch by using an accurate charged non-contact measurement technology.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art and provides a method for detecting the closing state of a high-voltage isolating switch based on a laser radar.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a detection method for the closing state of a high-voltage isolating switch based on a laser radar comprises the following steps:
establishing a geometric abstract model of a switching-on action process of the high-voltage isolating switch, analyzing to obtain an included angle value between a rear conductive arm of the high-voltage isolating switch and the horizontal direction or an included angle value between a front conductive arm and a rear conductive arm to judge the switching-on state of the high-voltage isolating switch, and providing a measurement algorithm of the included angle value between the front conductive arm or the rear conductive arm of the high-voltage isolating switch and the horizontal direction;
scanning the high-voltage isolating switch through a ground laser radar to obtain point clouds of front or rear conductive arms of the high-voltage isolating switch, and cutting the point clouds of the front and rear conductive arms on planes which are in a certain number and are vertical to any coordinate axis;
designing and developing an automatic measuring and calculating module for an included angle value between a rear conductive arm of the high-voltage isolating switch and the horizontal direction or an included angle value between a front conductive arm and a rear conductive arm in the MATLAB;
the automatic measuring and calculating module sequences, groups and fits point cloud data according to point clouds of front and rear conductive arms of the high-voltage isolating switch, and automatically measures and calculates an included angle value between the rear conductive arm of the high-voltage isolating switch and the horizontal direction or an included angle value between the front and rear conductive arms;
and step five, comparing the included angle value obtained by measurement and calculation with a specified value, and judging the closing state of the high-voltage isolating switch.
Further, in the step one, the included angle values between the front and rear conductive arms and the horizontal direction are equivalent to the complementary angle between the axial direction vector and the vertical vector of the cylinder fitted by the point cloud of the front and rear conductive arms, the right-angle coordinate system is used as a reference, the counterclockwise included angle with the X axis is positive, and the calculation formula is as follows:
Figure DEST_PATH_IMAGE001
in the formula, vector
Figure 603973DEST_PATH_IMAGE003
Is axial direction vector of the front conductive arm or the rear conductive arm
Figure DEST_PATH_IMAGE005
For the vertical direction vector in the established rectangular coordinate system, the module length is 1.
Further, in the second step, the point clouds of the front and rear conductive arms are truncated by a certain number of planes with positions perpendicular to any coordinate axis to obtain a series of discrete point clouds in an elliptical shape, and the geometric center of the ellipse is solved by fitting the series of ellipses to calculate the axial direction vectors of the front and rear conductive arms.
Further, in the third step, the automatic measuring and calculating module includes a point cloud arrangement module, an automatic point cloud grouping module, an ellipse equation solving module, a direction vector solving module and a conductive arm included angle calculating module.
Further, the point cloud arrangement module carries out ascending bubble ordering on the unordered point clouds according to the X-axis coordinate components of the data points.
Further, the automatic point cloud grouping module groups the sorted point clouds, selects a proper data point as a fitted data sample, and a screening formula is as follows:
Figure 612380DEST_PATH_IMAGE006
in the formula (I), the compound is shown in the specification,
Figure 869049DEST_PATH_IMAGE007
are data points
Figure 177670DEST_PATH_IMAGE009
Is determined by the coordinate of (a) in the space,
Figure 923910DEST_PATH_IMAGE011
is a grouping plane, the value size of which depends on the point cloud grouping quantity and the grouping strategy,
Figure 186657DEST_PATH_IMAGE013
depending on the accuracy with which the device is operated,
Figure DEST_PATH_IMAGE015
for measuring the effect between the object and the deviceDistance, in meters, at data points
Figure 512596DEST_PATH_IMAGE009
To plane Pj：
Figure DEST_PATH_IMAGE017
Is less than
Figure DEST_PATH_IMAGE019
Then, the X-axis coordinate component of the data point is corrected to
Figure DEST_PATH_IMAGE021
So as to point
Figure 347828DEST_PATH_IMAGE009
Lying in plane PjAnd if not, setting the coordinate of the data point to 0 and discarding the data point.
Further, the ellipse equation solving module solves the ellipse equation according to the point cloud on each plane, which is as follows:
plane Pj（X=
Figure 264969DEST_PATH_IMAGE022
) The above ellipse equation is as follows:
Figure 779126DEST_PATH_IMAGE024
Figure 377598DEST_PATH_IMAGE026
the above-mentioned plane PjFitting the point cloud data one by using a least square method to fit an ellipse, wherein the formula is as follows:
Figure 191970DEST_PATH_IMAGE027
Figure 748854DEST_PATH_IMAGE028
to the above formula
Figure 717684DEST_PATH_IMAGE030
The partial derivatives are calculated and are set to 0, and the formula is as follows:
Figure DEST_PATH_IMAGE031
as described above with reference to
Figure 385426DEST_PATH_IMAGE030
The highest order of the equation (1) is, in the same way, paired
Figure 257567DEST_PATH_IMAGE033
Solving the partial derivatives, obtaining a five-element equation set in a simultaneous manner, solving the equation set to obtain the coefficient value of the elliptic equation of each plane
Figure 782089DEST_PATH_IMAGE035
。
Further, the direction vector solving module solves the axial direction vector of the conductive arm according to an ellipse equation, which is as follows:
geometric center corresponding to ellipse equation
Figure DEST_PATH_IMAGE037
The coordinates are calculated as follows:
Figure 942943DEST_PATH_IMAGE039
=
Figure 211114DEST_PATH_IMAGE040
Figure 203340DEST_PATH_IMAGE041
Figure 570868DEST_PATH_IMAGE042
to this endThe geometric central point of the series of ellipses is equally divided into two point sets, and the central point coordinates of the two point sets are respectively solved
Figure 78073DEST_PATH_IMAGE043
The calculation is as follows, then the direction vector of the conductive arm is
Figure 822038DEST_PATH_IMAGE044
;
Figure 181955DEST_PATH_IMAGE045
，
Figure 48279DEST_PATH_IMAGE046
Figure 714884DEST_PATH_IMAGE047
Further, the conductive arm included angle calculation module calculates included angle values of the front conductive arm, the rear conductive arm and the horizontal direction according to the direction vector of the conductive arm, specifically as follows:
the direction vector of the conductive arm obtained as above is
Figure 528119DEST_PATH_IMAGE003
Substituted into the following formula, and the compound is,
Figure 291676DEST_PATH_IMAGE048
calculating the included angle values of the front and rear conductive arms and the horizontal direction in the following manner:
Figure 1006DEST_PATH_IMAGE049
Figure 482803DEST_PATH_IMAGE051
Figure 834150DEST_PATH_IMAGE053
Figure 389896DEST_PATH_IMAGE055
furthermore, the conductive arm included angle calculation module calculates an included angle value between the front conductive arm and the rear conductive arm, and subtracts the included angle value between the front conductive arm and the horizontal direction from the included angle value between the rear conductive arm and the horizontal direction to obtain the included angle value between the front conductive arm and the rear conductive arm.
The invention has the beneficial effects that: as can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
1. by analyzing the switching-on action process and the structural characteristics of the high-voltage isolating switch, the feasibility and the advantage of judging the switching-on state by measuring the included angle of the conducting arm are demonstrated;
2. the method for calculating the cylinder axis direction of the high-voltage isolating switch based on the point cloud data of the ground laser radar is provided, the point cloud is grouped and the ellipse is fitted, and the calculation difficulty is reduced;
3. the included angle of the conducting arm is automatically measured based on Matlab, and compared with a manual measurement value of professional point cloud measurement software, the credibility of an automatic measurement result and the feasibility of the proposed method are verified, and a new detection technical means can be provided for the switching-on state of the high-voltage isolating switch of the transformer substation.
Drawings
Fig. 1 is a schematic diagram of a closing action of a horizontal telescopic high-voltage isolating switch in an embodiment of the invention;
FIG. 2 is a schematic view of a planar cross-section of a cylinder that is not parallel to the cylinder axis in an embodiment of the present invention.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-2, in a preferred embodiment of the present invention, a method for detecting a closing state of a high-voltage isolator based on a laser radar includes:
establishing a geometric abstract model of a switching-on action process of the high-voltage isolating switch, analyzing to obtain an included angle value between a rear conductive arm of the high-voltage isolating switch and the horizontal direction or an included angle value between a front conductive arm and a rear conductive arm to judge the switching-on state of the high-voltage isolating switch, and providing a measurement algorithm of the included angle value between the front conductive arm or the rear conductive arm of the high-voltage isolating switch and the horizontal direction;
scanning the high-voltage isolating switch through a ground laser radar to obtain point clouds of front or rear conductive arms of the high-voltage isolating switch, and cutting the point clouds of the front and rear conductive arms on planes which are in a certain number and are vertical to any coordinate axis;
designing and developing an automatic measuring and calculating module for an included angle value between a rear conductive arm of the high-voltage isolating switch and the horizontal direction or an included angle value between a front conductive arm and a rear conductive arm in the MATLAB;
the automatic measuring and calculating module sequences, groups and fits point cloud data according to point clouds of front and rear conductive arms of the high-voltage isolating switch, and automatically measures and calculates an included angle value between the rear conductive arm of the high-voltage isolating switch and the horizontal direction or an included angle value between the front and rear conductive arms;
and step five, comparing the included angle value obtained by measurement and calculation with a specified value, and judging the closing state of the high-voltage isolating switch.
The feasibility and the advantage of judging the closing state by measuring the included angle of the conducting arm are demonstrated by analyzing the closing action process and the structural characteristics of the high-voltage isolating switch; the method for calculating the cylinder axis direction of the high-voltage isolating switch based on the point cloud data of the ground laser radar is provided, the point cloud is grouped and the ellipse is fitted, and the calculation difficulty is reduced; the included angle of the conducting arm is automatically measured based on Matlab, and compared with a manual measurement value of professional point cloud measurement software, the credibility of an automatic measurement result and the feasibility of the proposed method are verified, and a new detection technical means can be provided for the switching-on state of the high-voltage isolating switch of the transformer substation.
As a preferred embodiment of the present invention, it may also have the following additional technical features:
in this embodiment, in the step one, the included angle between the front and rear conductive arms and the horizontal direction is equivalent to the complementary angle between the axial direction vector and the vertical vector of the cylinder fitted with the point cloud of the front and rear conductive arms, and the calculation formula is as follows, taking the rectangular coordinate system as reference and the counterclockwise direction of the included angle with the X axis as positive:
Figure 332444DEST_PATH_IMAGE001
in the formula, vector
Figure 239220DEST_PATH_IMAGE003
Is axial direction vector of the front conductive arm or the rear conductive arm
Figure 128679DEST_PATH_IMAGE005
For the vertical direction vector in the established rectangular coordinate system, the module length is 1.
In this embodiment, in the second step, the point clouds of the front and rear conductive arms are truncated by a certain number of planes whose positions are perpendicular to any coordinate axis to obtain a series of discrete point clouds in an elliptical shape, and the geometric center of the ellipse is solved by fitting the series of ellipses to calculate the axial direction vectors of the front and rear conductive arms.
In this embodiment, in the third step, the automatic measuring and calculating module includes a point cloud arrangement module, an automatic point cloud grouping module, an ellipse equation solving module, a direction vector solving module, and a conductive arm included angle calculating module.
In this embodiment, the point cloud arrangement module performs ascending bubble sorting on the unordered point clouds according to the X-axis coordinate components of the data points.
In this embodiment, the point cloud automatic grouping module groups the sorted point clouds, selects a suitable data point as a fitted data sample, and a screening formula is as follows:
Figure 601249DEST_PATH_IMAGE006
in the formula (I), the compound is shown in the specification,
Figure 682075DEST_PATH_IMAGE007
are data points
Figure 810568DEST_PATH_IMAGE009
Is determined by the coordinate of (a) in the space,
Figure 300455DEST_PATH_IMAGE011
is a grouping plane, the value size of which depends on the point cloud grouping quantity and the grouping strategy,
Figure 830794DEST_PATH_IMAGE013
depending on the accuracy with which the device is operated,
Figure 583986DEST_PATH_IMAGE015
for measuring the actual distance between the object and the device in meters, at data points
Figure 996513DEST_PATH_IMAGE009
To plane Pj：
Figure 227774DEST_PATH_IMAGE017
Is less than
Figure 878198DEST_PATH_IMAGE019
Then, the X-axis coordinate component of the data point is corrected to
Figure 599029DEST_PATH_IMAGE021
So as to point
Figure 702115DEST_PATH_IMAGE009
Lying in plane PjAnd if not, setting the coordinate of the data point to 0 and discarding the data point.
In this embodiment, the ellipse equation solving module solves the ellipse equation according to the point cloud on each plane, which is as follows:
plane Pj（X=
Figure 533804DEST_PATH_IMAGE022
) The above ellipse equation is as follows:
Figure 38735DEST_PATH_IMAGE024
Figure 369616DEST_PATH_IMAGE026
the above-mentioned plane PjFitting the point cloud data one by using a least square method to fit an ellipse, wherein the formula is as follows:
Figure 756735DEST_PATH_IMAGE027
Figure 595378DEST_PATH_IMAGE028
to the above formula
Figure 954815DEST_PATH_IMAGE030
The partial derivatives are calculated and are set to 0, and the formula is as follows:
Figure 17449DEST_PATH_IMAGE031
as described above with reference to
Figure 95126DEST_PATH_IMAGE030
The highest order of the equation (1) is, in the same way, paired
Figure 206302DEST_PATH_IMAGE033
Solving the partial derivatives, obtaining a five-element equation set in a simultaneous manner, solving the equation set to obtain the coefficient value of the elliptic equation of each plane
Figure 482562DEST_PATH_IMAGE035
。
In this embodiment, the direction vector solving module solves the axial direction vector of the conductive arm according to an ellipse equation, which is as follows:
geometric center corresponding to ellipse equation
Figure 653781DEST_PATH_IMAGE037
The coordinates are calculated as follows:
Figure 218754DEST_PATH_IMAGE039
=
Figure 195937DEST_PATH_IMAGE040
Figure 529967DEST_PATH_IMAGE041
Figure 636201DEST_PATH_IMAGE042
dividing the series of geometric central points of the ellipse into two point sets, respectively solving the central point coordinates of the two point sets
Figure 219629DEST_PATH_IMAGE043
The calculation is as follows, then the direction vector of the conductive arm is
Figure 938186DEST_PATH_IMAGE044
。
Figure 392301DEST_PATH_IMAGE045
，
Figure 967639DEST_PATH_IMAGE046
Figure 976046DEST_PATH_IMAGE047
In this embodiment, the conductive arm included angle calculation module calculates included angle values of the front and rear conductive arms and the horizontal direction according to the conductive arm direction vector, specifically as follows:
the direction vector of the conductive arm obtained as above is
Figure 498295DEST_PATH_IMAGE003
Substituted into the following formula, and the compound is,
Figure 603654DEST_PATH_IMAGE048
calculating the included angle values of the front and rear conductive arms and the horizontal direction in the following manner:
Figure 287576DEST_PATH_IMAGE049
Figure 111176DEST_PATH_IMAGE051
Figure 610683DEST_PATH_IMAGE053
Figure 773812DEST_PATH_IMAGE055
in this embodiment, the conductive arm included angle calculation module calculates an included angle value between the front conductive arm and the rear conductive arm, and subtracts the included angle value between the front conductive arm and the horizontal direction from the included angle value between the rear conductive arm and the horizontal direction to obtain the included angle value between the front conductive arm and the rear conductive arm.
To facilitate an understanding of the invention, a more specific example is provided below:
in this embodiment, a horizontal telescopic high-voltage isolating switch is used as a research object, and a static contact and a moving-side conductive part (including a transmission seat, front and rear conductive arms, and a moving contact) of a main conductive part of the high-voltage isolating switch are respectively installed on top of a post insulator on the static side and the moving side. When the high-voltage isolating switch is in an opening state, the front conductive arm and the rear conductive arm are folded and folded, and a clear and visible isolating fracture is formed between the front conductive arm and the fixed contact. During closing action, the operating mechanism drives the pull rod to enable the rear conductive arm to rotate, the push rod inside the conductive arm pushes the rack to drive the gear to rotate, and then the front conductive arm is driven to open, stretch and expand the front conductive arm and the rear conductive arm, the included angle between the front conductive arm and the rear conductive arm is gradually reduced until the moving contact at the top end of the front conductive arm is inserted into the static contact, and the included angle between the front conductive arm and the rear conductive arm reaches a target range to form a stable conductive path.
Establishing an abstract model according to the switching-on action process of the high-voltage isolating switch, wherein a point A is a hinged point of the rear conductive arm and the equipment, and a point C is1Is the connecting point of the moving contact and the front conductive arm, B1C1、AB1Is a front and a back conductive arm, and when the switch is closed, the conductive arm is from AB of state 11C1The position movement gradually moves to the level AB of state 33C3Location. Using point A as the origin of the coordinate system, AB3C3The straight line is the X axis, the vertical direction is the Z axis, and a rectangular coordinate system is established according to the right-hand spiral rule, as shown in FIG. 1.
In order to measure the space attitude of the conductive arm and judge the in-place closing condition of the high-voltage isolating switch in actual operation, whether the value of the included angle between the front conductive arm and the horizontal direction and the value of the included angle between the rear conductive arm and the horizontal direction are within a specified interval or not is used as a judgment basis. If the included angles between the front and rear conductive arms and the horizontal direction are set as the included angles of the front conductive arm
Figure 690952DEST_PATH_IMAGE057
Angle with rear conductive arm
Figure DEST_PATH_IMAGE059
I.e. the angle of the rear conductive arm
Figure 142793DEST_PATH_IMAGE060
Angle of leading conductive arm
Figure 803581DEST_PATH_IMAGE061
When the high-voltage isolating switch is switched on, the switching-on of the high-voltage isolating switch can be judged to be in place, wherein
Figure 821216DEST_PATH_IMAGE063
The value of (a) depends on the specific model of the target high-voltage isolating switch.
In the present embodiment, the switching-on state of the high-voltage isolation switch is determined by calculating an included angle between the rear conductive arm of the high-voltage isolation switch and the horizontal direction or an included angle between the front conductive arm and the rear conductive arm.
Because the front and rear conductive arms of the high-voltage isolating switch are in spatial geometry, the included angle between the front and rear conductive arms and the horizontal direction is not easy to directly measure and calculate, and proper geometric characteristics need to be searched to equivalently replace the electrified non-contact acquisition of the spatial attitude of the front and rear conductive arms.
The ground laser radar has the advantages of high precision and non-contact. The ground laser radar is used for scanning the high-voltage isolating switch to obtain the point clouds of the front conducting arm and the rear conducting arm, the space postures of the conducting arms can be well reflected, but the point clouds are only a set of discrete points and only reflect the position information of the surface points of an object, and the function of directly measuring angles is not achieved. Therefore, it is necessary to extract suitable mathematical features from the point cloud. Because the front conductive arm and the rear conductive arm are regular cylinders and the direction of the cylinder is usually expressed by the axial direction vector of the cylinder, the space posture of the conductive arms can be well reflected by fitting the cylinder in a mode that the axial direction vector of the cylinder is used as the mathematical characteristic of the front conductive arm and the rear conductive arm.
According to the above analysis, the included angle between the front and rear conductive arms can be equivalent to the complementary angle between the axial direction vector and the vertical vector of the cylinder fitted by the point cloud of the front and rear conductive arms, and the calculation method is as follows, with reference to the rectangular coordinate system in fig. 1 and with positive counterclockwise included angle with the X axis:
Figure 112520DEST_PATH_IMAGE001
in the formula, vector
Figure 645133DEST_PATH_IMAGE003
Is a direction vector of the conductive arm
Figure 47295DEST_PATH_IMAGE005
For the vertical direction vector in the established rectangular coordinate system, the module length is 1.
From the above formula, the key to detecting the closing state of the high-voltage isolating switch based on the included angle of the conductive arm is how to accurately extract the axis vector of the conductive arm. The traditional way of obtaining the axis direction of any cylinder in the space is to directly fit a cylindrical surface by using a least square method, and then the axis direction of the cylinder is obtained. However, in the solving process, the solution of the multi-element high-order equation set needs to be calculated, and the solving difficulty is high. Aiming at the problem, a point cloud slice grouping calculation mode based on a discrete idea is provided, the solving process of the cylindrical axis is improved, the calculated amount and the calculation difficulty are greatly reduced, and the specific calculation principle is as follows:
with any one of the cylindrical surfaces in space (
Figure DEST_PATH_IMAGE065
) The center of the bottom surface circle is the origin, the plane of the bottom surface is the XOY plane, and the Z axis is the direction of the cylindrical axis. When a plane non-parallel to its axis is taken as in figure 2.
The plane intersects the Z axis at a point
Figure 450595DEST_PATH_IMAGE067
At an angle to the XOY plane of
Figure 145756DEST_PATH_IMAGE069
(counterclockwise). The contour equation is an ellipse, the major axis is located on the XOZ plane, the minor axis is located on the YOZ plane, so the intersection point of the major axis and the minor axis of the ellipse, namely the geometric center of the ellipse is located on the Z axis, and the cylindrical axis is also located on the Z axis, because of the fact thatIn this way, the axis vector of the cylinder can be determined by finding at least two points. Based on the principle, when the cylindrical point cloud is truncated by a certain number of planes with the positions perpendicular to any coordinate axis, a series of discrete elliptical point clouds can be obtained. By fitting the series of ellipses, solving the geometric center of the ellipse, calculating the axis direction of the cylinder, further calculating the included angle value of the conductive arm of the high-voltage isolating switch, converting the problem of solving the linear direction of the three-dimensional space into the problem of solving two-dimensional plane points, greatly reducing the calculation difficulty, and solving the geometric center formula of the ellipse as follows:
Figure 165664DEST_PATH_IMAGE070
where r is the radius of the cylindrical surface, Ψ is the angle between the plane and the XOY plane, and h is the intersection of the plane and the Z axis.
According to the principle of the included angle measuring algorithm of the conductive arm, a module for automatically measuring the included angle of the conductive arm of the high-voltage isolating switch is designed and developed in MATLAB based on ground laser radar point cloud.
1. Point cloud arrangement module
The module has the function of sequencing disordered point clouds according to a certain requirement and providing convenience for subsequent point cloud grouping. Common ranking algorithms are: fast sorting, bubble sorting, direct insertion sorting, etc., and the present embodiment selects a policy of performing ascending bubble sorting according to the X-axis coordinate component of the data point.
2. Automatic grouping module for point clouds
The module groups the sorted point clouds, selects a proper data point as a fitted data sample, and the screening condition is as shown in the following formula:
Figure 637097DEST_PATH_IMAGE006
in the formula (I), the compound is shown in the specification,
Figure 363745DEST_PATH_IMAGE072
are data points
Figure 793589DEST_PATH_IMAGE074
Is determined by the coordinate of (a) in the space,
Figure 238477DEST_PATH_IMAGE076
is a grouping plane Pj, the value of which depends on the point cloud grouping quantity and the grouping strategy, such as equidistant mode, random mode and the like,
Figure 248021DEST_PATH_IMAGE078
depending on the working accuracy of the apparatus, if the working accuracy of the apparatus is set to a distance error of 2mm of 10m
Figure 891492DEST_PATH_IMAGE080
，
Figure 695500DEST_PATH_IMAGE082
To measure the actual distance between the object and the device, in meters. When the data point is
Figure 627684DEST_PATH_IMAGE084
To plane Pj:
Figure 237657DEST_PATH_IMAGE086
a distance of less than
Figure 673317DEST_PATH_IMAGE088
Then, the X-axis coordinate component of the data point is corrected to
Figure 710544DEST_PATH_IMAGE090
So as to point
Figure 631488DEST_PATH_IMAGE092
And (4) locating on the plane Pj, otherwise, setting the coordinate of the data point to be 0, and discarding.
3. Ellipse equation solving module
The least squares method is a mathematical optimization technique. It finds the best functional match of the data by minimizing the sum of the squares of the errors. The module solves an ellipse equation according to the point cloud on each plane.
Plane Pj（X=
Figure DEST_PATH_IMAGE093
) The above ellipse equation is as follows:
Figure 186098DEST_PATH_IMAGE024
Figure 804161DEST_PATH_IMAGE026
the above-mentioned plane PjFitting the point cloud data one by using a least square method to fit an ellipse, wherein the formula is as follows:
Figure 949971DEST_PATH_IMAGE027
Figure 653485DEST_PATH_IMAGE028
to the above formula
Figure 808523DEST_PATH_IMAGE030
The partial derivatives are calculated and are set to 0, and the formula is as follows:
Figure 218776DEST_PATH_IMAGE031
as described above with reference to
Figure DEST_PATH_IMAGE095
The highest order of the equation (1) is, in the same way, paired
Figure DEST_PATH_IMAGE097
Solving the partial derivatives, obtaining a five-element equation set in a simultaneous manner, solving the equation set to obtain the coefficient value of the elliptic equation of each plane
Figure 269908DEST_PATH_IMAGE099
。
4. Direction vector solving module
Geometric center corresponding to ellipse equation
Figure 460718DEST_PATH_IMAGE037
The coordinates are calculated as follows:
Figure 386824DEST_PATH_IMAGE039
=
Figure 182741DEST_PATH_IMAGE040
Figure 467092DEST_PATH_IMAGE041
Figure 82881DEST_PATH_IMAGE042
dividing the series of geometric central points of the ellipse into two point sets, respectively solving the central point coordinates of the two point sets
Figure 579722DEST_PATH_IMAGE043
The calculation is as follows, then the direction vector of the conductive arm is
Figure 26884DEST_PATH_IMAGE044
。
Figure 685398DEST_PATH_IMAGE045
，
Figure 788483DEST_PATH_IMAGE046
Figure 620173DEST_PATH_IMAGE047
5. Conductive arm included angle calculation module
The direction vector of the conductive arm obtained as above is
Figure 125104DEST_PATH_IMAGE003
Substituted into the following formula, and the compound is,
Figure 16836DEST_PATH_IMAGE048
calculating the included angle values of the front and rear conductive arms and the horizontal direction in the following manner:
Figure 607218DEST_PATH_IMAGE049
Figure 670027DEST_PATH_IMAGE051
Figure 295044DEST_PATH_IMAGE053
Figure 357678DEST_PATH_IMAGE055
in order to check the credibility of the fitting method of the point cloud slice, field verification is required. The method comprises the steps of obtaining point cloud data of a target high-voltage isolating switch by IMAGER 5010 equipment of Germany Z + F company, measuring an included angle between the axis of a conductive arm of the high-voltage isolating switch and the stretching direction by using point cloud data software polyforks developed by InnovMetric of Canada, and taking the result as a reference group. The test object is a 220kV horizontal telescopic high-voltage isolating switch of a certain transformer substation.
And processing the point cloud data obtained on site, and deleting irrelevant point clouds and noise points to obtain the point cloud data of the rear conductive arm. Using the point cloud of the conductive arm as an object, fitting a cylindrical surface by using a polyforks point cloud measuring software, manually creating a direction vector of the axis of the cylindrical surface, and measuring the direction vector of the conductive arm as follows:
Figure 169776DEST_PATH_IMAGE101
substituting the calculation formula of the included angle of the conductive arm to obtain:
Figure 343268DEST_PATH_IMAGE103
°
namely, the included angle between the rear conductive arm and the vertical direction is 89.408 degrees, and the included angle between the rear conductive arm and the horizontal stretching direction is 0.592 degrees, so that the result is compared to verify the credibility of the automatic detection result provided by the invention.
Selecting an equal-interval strategy to determine a grouping plane, arranging the point cloud matrix in ascending order according to the X-axis coordinate component, and respectively passing through
Figure DEST_PATH_IMAGE105
（i=1,2,···6,[]N is the number of point clouds) as a point cloud grouping plane. The distance from the grouping plane is set to be less than 0.002 according to the working mode during field operation and the distance from the target high-voltage isolating switch
Figure 26054DEST_PATH_IMAGE107
15/10 may be grouped into respective planes.
Fitting the 6 groups of point cloud grouped data by using a least square method, calculating the geometric center coordinates of the ellipses to obtain 6 geometric center points of the ellipses, and obtaining the direction vector of the rear conductive arm as
Figure 259589DEST_PATH_IMAGE108
The included angle of the rear conductive arm of the output high-voltage isolating switch is as follows:
Figure 558983DEST_PATH_IMAGE110
°
namely, the automatic detection result of the included angle of the conductive arm of the high-voltage isolating switch provided by the invention is 0.567 degrees. Compared with a control group manually measured value of 0.592 degrees, the difference between the two values is 0.025 degrees, the relative error is 4 percent, the difference between the two data sets is small, according to a technical manual corresponding to the on-site high-voltage isolating switch, the switching-on position of the high-voltage isolating switch is defined to be that the included angle between the rear conductive arm and the horizontal direction is not more than 2 degrees clockwise, the measurement result meets the standard, meanwhile, the measurement high-voltage isolating switch is put into operation on site for a long time, is subjected to heavy current load, is normal in multiple infrared thermal imaging temperature measurement, has no abnormal heating phenomenon, and can be seen that the on-site high-voltage. The technology for detecting the included angle of the conducting arm of the high-voltage isolating switch based on the ground laser radar has feasibility, can automatically measure the degree of the included angle, and has the precision meeting engineering requirements.
The above additional technical features can be freely combined and used in superposition by those skilled in the art without conflict.
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims (10)

1. A detection method for the closing state of a high-voltage isolating switch based on a laser radar is characterized by comprising the following steps:
establishing a geometric abstract model of a switching-on action process of the high-voltage isolating switch, analyzing to obtain an included angle value between a rear conductive arm of the high-voltage isolating switch and the horizontal direction or an included angle value between a front conductive arm and a rear conductive arm to judge the switching-on state of the high-voltage isolating switch, and providing a measurement algorithm of the included angle value between the front conductive arm or the rear conductive arm of the high-voltage isolating switch and the horizontal direction;
scanning the high-voltage isolating switch through a ground laser radar to obtain point clouds of front or rear conductive arms of the high-voltage isolating switch, and cutting the point clouds of the front and rear conductive arms on planes which are in a certain number and are vertical to any coordinate axis;
designing and developing an automatic measuring and calculating module for an included angle value between a rear conductive arm of the high-voltage isolating switch and the horizontal direction or an included angle value between a front conductive arm and a rear conductive arm in the MATLAB;
the automatic measuring and calculating module sequences, groups and fits point cloud data according to point clouds of front and rear conductive arms of the high-voltage isolating switch, and automatically measures and calculates an included angle value between the rear conductive arm of the high-voltage isolating switch and the horizontal direction or an included angle value between the front and rear conductive arms;
and step five, comparing the included angle value obtained by measurement and calculation with a specified value, and judging the closing state of the high-voltage isolating switch.
2. The method for detecting the closing state of the high-voltage isolating switch based on the laser radar as claimed in claim 1, wherein the method comprises the following steps: in the first step, the included angle between the front and rear conductive arms and the horizontal direction is equivalent to the complementary angle between the axial direction vector and the vertical vector of the cylinder fitted by the point cloud of the front and rear conductive arms, the right-angle coordinate system is used as a reference, the counterclockwise included angle with the X axis is positive, and the calculation formula is as follows:
Figure 672870DEST_PATH_IMAGE001
in the formula, vector
Figure 520083DEST_PATH_IMAGE002
Is axial direction vector of the front conductive arm or the rear conductive arm
Figure 393361DEST_PATH_IMAGE003
For the vertical direction vector in the established rectangular coordinate system, the module length is 1.
3. The method for detecting the closing state of the high-voltage isolating switch based on the laser radar as claimed in claim 2, wherein the method comprises the following steps: in the second step, the point clouds of the front and the rear conductive arms are cut off by planes with a certain number and positions perpendicular to any coordinate axis to obtain a series of discrete elliptic point clouds, the geometrical center of the ellipse is solved by fitting the series of ellipses, and the axial direction vectors of the front and the rear conductive arms are calculated.
4. The method for detecting the closing state of the high-voltage disconnecting switch based on the laser radar as claimed in claim 1, wherein in the third step, the automatic measuring and calculating module comprises a point cloud arrangement module, a point cloud automatic grouping module, an ellipse equation solving module, a direction vector solving module and a conducting arm included angle calculating module.
5. The method for detecting the closing state of the high-voltage isolating switch based on the laser radar as claimed in claim 4, wherein the point cloud arrangement module performs ascending bubble sorting on the disordered point cloud according to the X-axis coordinate component of the data points.
6. The method for detecting the closing state of the high-voltage disconnecting switch based on the laser radar as claimed in claim 5, wherein the point cloud automatic grouping module is used for grouping the sorted point clouds, selecting a proper data point as a fitted data sample, and selecting a formula as follows:
Figure 757215DEST_PATH_IMAGE004
in the formula (I), the compound is shown in the specification,
Figure 944614DEST_PATH_IMAGE005
are data points
Figure 867571DEST_PATH_IMAGE006
Is determined by the coordinate of (a) in the space,
Figure 646171DEST_PATH_IMAGE007
is a grouping plane, the value size of which depends on the point cloud grouping quantity and the grouping strategy,
Figure 185736DEST_PATH_IMAGE008
depending on the accuracy with which the device is operated,
Figure 707985DEST_PATH_IMAGE009
for measuring the actual between the object and the deviceDistance, in meters, as data points
Figure 518071DEST_PATH_IMAGE006
To plane Pj：
Figure 733152DEST_PATH_IMAGE010
Is less than
Figure 760014DEST_PATH_IMAGE011
Then, the X-axis coordinate component of the data point is corrected to
Figure 85953DEST_PATH_IMAGE012
So as to point
Figure 514660DEST_PATH_IMAGE006
Lying in plane PjAnd if not, setting the coordinate of the data point to 0 and discarding the data point.
7. The method for detecting the closing state of the high-voltage disconnecting switch based on the laser radar as claimed in claim 6, wherein the ellipse equation solving module solves an ellipse equation according to the point cloud on each plane, and the method comprises the following specific steps:
plane Pj（X=
Figure 900642DEST_PATH_IMAGE012
) The above ellipse equation is as follows:
Figure 414800DEST_PATH_IMAGE013
Figure 544430DEST_PATH_IMAGE014
the above-mentioned plane PjFitting the point cloud data one by using a least square method to fit an ellipse, wherein the formula is as follows:
Figure 827644DEST_PATH_IMAGE015
Figure 384527DEST_PATH_IMAGE016
to the above formula
Figure 385981DEST_PATH_IMAGE017
The partial derivatives are calculated and are set to 0, and the formula is as follows:
Figure 53723DEST_PATH_IMAGE018
as described above with reference to
Figure 955558DEST_PATH_IMAGE017
The highest order of the equation (1) is, in the same way, paired
Figure 683342DEST_PATH_IMAGE019
Solving the partial derivatives, obtaining a five-element equation set in a simultaneous manner, solving the equation set to obtain the coefficient value of the elliptic equation of each plane
Figure 906513DEST_PATH_IMAGE020
。
8. The method for detecting the closing state of the high-voltage disconnecting switch based on the laser radar as claimed in claim 7, wherein the direction vector solving module is configured to solve the axial direction vector of the conductive arm according to an elliptic equation, and specifically comprises the following steps:
geometric center corresponding to ellipse equation
Figure 377946DEST_PATH_IMAGE021
The coordinates are calculated as follows:
Figure 370172DEST_PATH_IMAGE022
=
Figure 534438DEST_PATH_IMAGE012
Figure 510484DEST_PATH_IMAGE023
Figure 520028DEST_PATH_IMAGE024
dividing the series of geometric central points of the ellipse into two point sets, respectively solving the central point coordinates of the two point sets
Figure 897920DEST_PATH_IMAGE025
The calculation is as follows, then the direction vector of the conductive arm is
Figure 701928DEST_PATH_IMAGE026
;
Figure 165270DEST_PATH_IMAGE027
，
Figure 978505DEST_PATH_IMAGE028
Figure 446789DEST_PATH_IMAGE029
。
9. The method for detecting the closing state of the high-voltage disconnecting switch based on the laser radar as claimed in claim 8, wherein the conducting arm included angle calculating module calculates included angle values of the front conducting arm, the rear conducting arm and the horizontal direction according to a conducting arm direction vector, specifically as follows:
the direction vector of the front and the rear conductive arms obtained above is defined as
Figure 952857DEST_PATH_IMAGE002
Substituted into the following formula, and the compound is,
Figure 637916DEST_PATH_IMAGE001
calculating the included angle values of the front and rear conductive arms and the horizontal direction in the following manner:
Figure 989263DEST_PATH_IMAGE030
Figure 76168DEST_PATH_IMAGE031
Figure 753137DEST_PATH_IMAGE032
Figure 925492DEST_PATH_IMAGE033
Figure 814951DEST_PATH_IMAGE033
。
10. the method for detecting the closing state of the high-voltage disconnecting switch based on the laser radar as claimed in claim 9, wherein the conducting arm included angle calculating module calculates an included angle value between the front conducting arm and the rear conducting arm, and subtracts the included angle value between the front conducting arm and the horizontal direction from the included angle value between the rear conducting arm and the horizontal direction to obtain the included angle value between the front conducting arm and the rear conducting arm.
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CN117826116A (en) * 2024-03-04 2024-04-05 广东电网有限责任公司中山供电局 Method and device for determining opening and closing states of double-column horizontal rotary isolating switch
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