CN112462364A - Radar monitoring method for preventing ship hook-off of cross-sea overhead power line - Google Patents
Radar monitoring method for preventing ship hook-off of cross-sea overhead power line Download PDFInfo
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- CN112462364A CN112462364A CN202011271711.4A CN202011271711A CN112462364A CN 112462364 A CN112462364 A CN 112462364A CN 202011271711 A CN202011271711 A CN 202011271711A CN 112462364 A CN112462364 A CN 112462364A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 27
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- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
Abstract
The invention discloses a radar monitoring method for preventing ship hooking failure of a cross-sea overhead power line, and relates to the field of cross-sea overhead power line monitoring methods. The existing sea-crossing line has low monitoring precision and is greatly influenced by weather. The method scans through two millimeter wave radars on two sides of the sea, the lower edge of the scanning is in the horizontal direction, the height of the lower edge of the scanning is equal to the height of the height limit, the height limit comparison is carried out after the echo is received, and an alarm signal is sent out when the height of the scanning exceeds the height limit. Can conveniently realize the control to boats and ships superelevation to realize the early warning that the overhead power line of crossing the sea prevented the ship loss, through adopting the millimeter wave radar, can effectively promote the interference killing feature, promote the adaptability to bad weather, promote the detection precision.
Description
Technical Field
The invention relates to the field of cross-sea overhead power line monitoring methods, in particular to a radar monitoring method for preventing ship hooking-off of a cross-sea overhead power line.
Background
At present, with the continuous development of island power grids, cross-sea overhead power lines are also continuously increased, and in order to guarantee the operation safety and the power supply reliability of the cross-sea lines of the island power grids, accidents such as ship hooking and breaking prevention of the cross-sea overhead power lines become important work of power supply.
The method is limited by special geographical conditions of islands, factors such as tide, tide and fall, ship entry and exit, a certain safety distance required to be kept between a ship and a live line and the like are considered, and in order to prevent ship hooking failure of a cross-sea overhead line, the height limit of the overhead power line in the sea area is required to be considered, and the height limit is influenced by the factors.
The method for preventing the ship from hooking off the cross-sea overhead power line is provided, mainly from the perspective of cross-sea line maintenance, line operation and maintenance personnel actively obtain the current height of the ship in the process of advancing by using monitoring equipment, and under the condition of ensuring enough time and effective distance, the ship exceeding the cross-sea line conductor and electrified with the electrical safety distance height can take treatment measures in time, so that the ship is ensured not to pass through the cross-sea line to cause the line ship damage accident. The proposed ship damage prevention monitoring methods such as AIS monitoring, infrared monitoring, laser monitoring and the like are not popularized and applied all the time due to the reasons of low precision, large influence of weather and the like.
Disclosure of Invention
The technical problem to be solved and the technical task to be solved by the invention are to perfect and improve the prior technical scheme, and provide a radar monitoring method for preventing ship hook-off of a cross-sea overhead power line, so as to achieve the purpose of early warning for preventing ship damage of the cross-sea overhead power line. Therefore, the invention adopts the following technical scheme.
A radar monitoring method for preventing ship hooking failure of a cross-sea overhead power line comprises the following steps:
1) 1 millimeter wave radar of the same type is respectively arranged on two towers on two sides of the sea, and a radar transmitter generates enough electromagnetic energy which is transmitted to an antenna through a receiving-transmitting conversion switch;
2) the antenna concentrates the electromagnetic energy in a direction with a narrow angle range to form a beam, and the beam is transmitted forwards;
3) after the electromagnetic waves encounter a target in a wave beam, the electromagnetic waves are reflected along all directions, and a part of electromagnetic energy is reflected back to the direction of the radar and is acquired by a radar antenna;
4) comparing ship height data acquired by the antenna with overhead wire height limit data;
5) when the height of the ship exceeds the height limit requirement, the antenna wirelessly transmits the height data of the ship to the monitoring center and sends out an alarm signal. The method can conveniently realize the monitoring of the ship superelevation so as to realize the early warning of preventing the ship damage of the cross-sea overhead power line, and can effectively improve the anti-interference capability, the adaptability to bad weather and the detection precision by adopting the millimeter wave radar, and the equipment cost is relatively low.
As a preferable technical means: the lower line of the radar beam propagates in the horizontal direction. Propagating down-line in the horizontal direction may reduce the computational complexity of down-line data.
As a preferable technical means: the lower line of the radar wave beam is as high as the height limit height of the ship. The height limit judgment of the ship can be conveniently realized.
As a preferable technical means: the radar antenna is a directional scanning antenna, the beam width in the horizontal direction is 0.8-1.2 degrees, and the radar antenna performs 360-degree horizontal continuous scanning in the space. The beam is narrow, the energy consumption is low, the resolution ratio is high, and the monitoring within the range of 360 degrees can be effectively realized.
Has the advantages that: the method can conveniently realize the monitoring of the ship superelevation so as to realize the early warning of preventing the ship damage of the cross-sea overhead power line, and has the advantages of high anti-interference capacity and high measurement precision and relatively low equipment cost by the millimeter wave radar.
Drawings
FIG. 1 is a schematic flow diagram of the present invention.
Fig. 2 is a schematic diagram of the height-limited detection principle of the present invention.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings in the specification.
As shown in fig. 1-2, a radar monitoring method for preventing a ship from hooking off by a cross-sea overhead power line includes the following steps:
1) 1 millimeter wave radar of the same type is respectively arranged on two towers on two sides of the sea, and a radar transmitter generates enough electromagnetic energy which is transmitted to an antenna through a receiving-transmitting conversion switch;
2) the antenna concentrates the electromagnetic energy in a direction with a narrow angle range to form a beam, and the beam is transmitted forwards;
3) after the electromagnetic waves encounter a target in a wave beam, the electromagnetic waves are reflected along all directions, and a part of electromagnetic energy is reflected back to the direction of the radar and is acquired by a radar antenna;
4) comparing ship height data acquired by the antenna with overhead wire height limit data;
5) when the height of the ship exceeds the height limit requirement, the antenna wirelessly transmits the height data of the ship to the monitoring center and sends out an alarm signal.
To reduce computational complexity, the down line of the radar beam propagates in the horizontal direction. Propagating down-line in the horizontal direction may reduce the computational complexity of down-line data.
In order to facilitate height limit judgment, the lower line of the radar wave beam is as high as the height limit height of the ship. The height limit judgment of the ship can be conveniently realized.
In order to realize omnibearing monitoring, the radar antenna is a directional scanning antenna, the beam width in the horizontal direction is 1 degree, and the radar antenna performs 360-degree horizontal continuous scanning in space. The beam is narrow, the energy consumption is low, the resolution ratio is high, and the monitoring within the range of 360 degrees can be effectively realized.
Compared with infrared and laser, the millimeter wave with the wavelength of 1-10 mm has strong capability of penetrating fog, smoke and dust, and in addition, the millimeter wave has better anti-interference, angle resolution capability and angle measurement precision than other microwaves.
Stride 1 millimeter level radar of the same model of each installation on two shaft towers of sea both sides, radar transmitter produces sufficient electromagnetic energy, concentrates on forming the wave beam forward propagation in a certain very narrow direction with these electromagnetic energy through the antenna, and the electromagnetic wave meets the target in the wave beam after, will produce the reflection along each direction, and the direction of radar is returned in the reflection of some electromagnetic energy wherein is acquireed by radar antenna. The radar is characterized in that the lower edge of a wave beam is in a horizontal state by adjusting the wave beam direction of the radar antenna.
When the radar measures distance, the time delta t between the radar transmitting pulse and the radar antenna and the target is transmitted by the radar, if C is 3 multiplied by 108When m/s is the propagation speed of the electromagnetic wave in free space, the distance R of the target from the ship is 1/2 × C × Δ t.
The radar antenna is a directional scanning antenna, the wave speed width on the horizontal plane is only 1 degree, and the antenna performs 360-degree horizontal continuous scanning in space. At a particular moment, the orientation of the antenna is determined, and electromagnetic waves are transmitted and received only in this direction. That is, each echo received by an antenna corresponds to a certain orientation of the space around the antenna. In the radar equipment, the instantaneous direction of the rotation of the antenna is accurately transmitted to the display through the azimuth scanning system, and the radar receiver also transmits the echo information to the display at the same time, so that the radar display records the azimuth information of an echo while recording the position information of the echo.
The following equation is the monostatic radar propagation equation.
In the formula, PrPower of the received signal for the antenna end;
Ptpower of transmitting signals for the antenna end;
Gtis the transmit antenna power gain;
Gris the receive antenna power gain;
sigma is the cross section area of the radar target;
λ is the wavelength;
Fta pattern propagation factor for a target from a transmit antenna;
Fris the pattern propagation factor from the target to the receive antenna;
and R is the distance from the radar to the target.
In the above equation FtIs defined as the field strength E at the target position at the same distance from the radar in the direction of maximum gain of the antenna beam in free space0The ratio of. FrIs defined similarly. In free space, when the target is located in the direction of the maximum of the transmission and reception antenna lobe pattern, Fr＝Ft＝1。
The radar propagation equation is rewritten as:
wherein R is at a transmission power of PtReceived echo power of PrAnd the target size is the distance obtained under the premise of determining sigma and the like. For convenient application, the formula is replaced as follows
First, the signal-to-noise power ratio is defined as
In the formula, PnIs the noise power of the receiving system, determines the minimum value P that can be detectedr. Noise power can be with receiving system noise temperature TsTo indicate that is
Pn＝kTsBn
Wherein k is Boltzmann's constant (1.380658X 10)-23Ws/K)；BnFor the noise bandwidth of the pre-detection filter of the receiver, in Hz. Thus, it is possible to provide
Pr＝(S/N)KTsBn
Handle PtDefined as the transmit power of the transmitter rather than the transmit power at the antenna end. Due to the loss of the transmission line, the transmission power at the antenna end is usually slightly less than that of the transmitter. When the radar designer or producer specifies transmitter power, the actual transmitter output power is meaningful, so P is redefinedt。
According to this definition, PtMust use Pt/LtInstead of this. Wherein L istIs a loss factor defined as the ratio of the transmitter output power to the actual power delivered to the antenna side, and therefore, LtNot less than 1. If there are three loss factors L1,L2,L3They can be used with a system loss factor L ═ L1L2L3To indicate. And finally obtaining a radar maximum acting distance equation:
the method can conveniently realize the monitoring of the ship superelevation so as to realize the early warning of preventing the ship damage of the cross-sea overhead power line, and has the advantages of high anti-interference capacity and high measurement precision and relatively low equipment cost by the millimeter wave radar.
The radar monitoring method for preventing ship hook-off of the cross-sea overhead power line shown in fig. 1-2 is a specific embodiment of the present invention, has shown the outstanding substantive features and significant progress of the present invention, and can make equivalent modifications in shape, structure and the like according to the practical use requirements and under the teaching of the present invention, all of which are within the protection scope of the present scheme.
Claims (5)
1. A radar monitoring method for preventing ship hooking failure of a cross-sea overhead power line is characterized by comprising the following steps:
1) 1 millimeter wave radar of the same type is respectively arranged on two towers on two sides of the sea, and a radar transmitter generates enough electromagnetic energy which is transmitted to an antenna through a receiving-transmitting conversion switch;
2) the antenna concentrates the electromagnetic energy in a direction with a narrow angle range to form a beam, and the beam is transmitted forwards;
3) after the electromagnetic waves encounter a target in a wave beam, the electromagnetic waves are reflected along all directions, and a part of electromagnetic energy is reflected back to the direction of the radar and is acquired by a radar antenna;
4) comparing ship height data acquired by the antenna with overhead wire height limit data;
5) when the height of the ship exceeds the height limit requirement, the antenna wirelessly transmits the height data of the ship to the monitoring center and sends out an alarm signal.
2. The radar monitoring method for preventing ship hooking failure of the cross-sea overhead power line according to claim 1, wherein the radar monitoring method comprises the following steps: the lower line of the radar beam propagates in the horizontal direction.
3. The radar monitoring method for preventing ship hooking failure of the cross-sea overhead power line according to claim 2, wherein the radar monitoring method comprises the following steps: the lower line of the radar wave beam is as high as the height limit height of the ship.
4. The radar monitoring method for preventing ship hooking failure of the cross-sea overhead power line according to claim 3, wherein the radar monitoring method comprises the following steps: the radar antenna is a directional scanning antenna, the beam width in the horizontal direction is 0.8-1.2 degrees, and the radar antenna performs 360-degree horizontal continuous scanning in the space.
5. The radar monitoring method for preventing ship hooking failure of the cross-sea overhead power line according to claim 4, wherein the radar monitoring method comprises the following steps: the radar adopts millimeter waves with the wavelength of 1-10 mm.
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Citations (4)
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|---|---|---|---|---|
| CN204791357U (en) * | 2015-06-15 | 2015-11-18 | 武汉珞珈天铭电气科技有限公司 | Laser of preventing external damage electric power facility detects early warning device |
| CN205484790U (en) * | 2016-03-03 | 2016-08-17 | 扬州精博电子科技有限公司 | Target height finding distancer on water |
| CN109035796A (en) * | 2018-08-27 | 2018-12-18 | 山东飞天激光光电科技有限公司 | A kind of laser radar Overheight Vehicles linear detector and detection method |
| CN110109072A (en) * | 2019-03-14 | 2019-08-09 | 中国人民解放军海军航空大学青岛校区 | A kind of more base sea Small object radar detection methods |
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- 2020-11-13 CN CN202011271711.4A patent/CN112462364A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204791357U (en) * | 2015-06-15 | 2015-11-18 | 武汉珞珈天铭电气科技有限公司 | Laser of preventing external damage electric power facility detects early warning device |
| CN205484790U (en) * | 2016-03-03 | 2016-08-17 | 扬州精博电子科技有限公司 | Target height finding distancer on water |
| CN109035796A (en) * | 2018-08-27 | 2018-12-18 | 山东飞天激光光电科技有限公司 | A kind of laser radar Overheight Vehicles linear detector and detection method |
| CN110109072A (en) * | 2019-03-14 | 2019-08-09 | 中国人民解放军海军航空大学青岛校区 | A kind of more base sea Small object radar detection methods |
Non-Patent Citations (2)
| Title |
|---|
| 斯科尔尼克主编: "自主无人系统的智能环境感知技术", 31 May 2020, 华中科技大学出版社, pages: 61 - 72 * |
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