CN112712183A - Transformer substation unmanned inspection equipment data management method based on space grid - Google Patents
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Abstract
According to the transformer substation unmanned inspection equipment data management method based on the space grid, all transformer substation space position data to be managed and transformer substation scene equipment space position data are obtained; carrying out substation scene grid space modeling according to the substation spatial position data and the substation scene equipment spatial position data to obtain a substation scene grid space model; coding the transformer substation scene equipment of the transformer substation scene grid space model by using the Beidou earth grid model to obtain Beidou grid codes of the transformer substation scene equipment; storing the transformer substation scene equipment spatial position data and the corresponding Beidou grid codes of the transformer substation scene equipment into a transformer substation scene data index big table; and (4) carrying out path planning on the unmanned inspection equipment according to the large table of the scene data index of the transformer substation, and managing the intelligent inspection of the unmanned inspection equipment. The intelligent management of the position of the scene equipment of the transformer substation is effectively realized, and the intelligent planning of the dynamic target path of the unmanned inspection equipment is realized.
Description
Technical Field
The invention belongs to the technical field of earth space information subdivision organization and transformer substation unmanned inspection big data, and particularly relates to a transformer substation unmanned inspection equipment data management method based on a space grid.
Background
Three-dimensional digitization and a time-space data management model of a transformer substation become one of the major problems of international power grid planning in recent years, and the development of a power time-space big data technology based on Beidou grid coding and grid data management technology in China has urgent requirements. The operation of the power grid transformer substation depends on manual field operation, a large amount of time and labor are spent on understanding the complex ground environment, manual navigation and management and control, a large amount of manpower and material resources are occupied, and the planning, construction and maintenance efficiency of the transformer substation is seriously influenced. The airspace management and control technology for realizing transformer substation data and unmanned inspection has important research significance and application prospect.
The intelligent inspection of the unmanned airspace of the transformer substation has two difficulties, namely complex airspace environment and complex calculation mode of the traditional space target.
Firstly, the complex airspace environment mainly means that the unmanned inspection equipment has various data types in the operation space, including various flight path data, field data and the like; dynamic targets are difficult to manage, and moving objects put higher demands on the speed of spatial computation. The complex calculation mode of the existing space target mainly means that the calculation of the relative positions of most space targets needs to carry out pairwise comparison of space entities or needs to calculate a complex curve equation.
Secondly, calculation is needed among all the dynamic targets, and the calculation times are exponentially increased along with the increase of the number of the dynamic targets; finally, the unmanned inspection equipment is used as a high dynamic target, real-time calculation needs to be kept, and calculation cost is very high.
Therefore, how to perform unified and standardized organization and management on the substation data, an effective and unified path planning method is proposed for an unmanned inspection scene, which is an important problem to be solved urgently at present.
Disclosure of Invention
In view of the above, the present disclosure provides a data management method for unmanned substation inspection equipment based on a spatial grid, which realizes effective intelligent management of the equipment position in the substation space and intelligent planning of a dynamic target path of the unmanned inspection equipment, and lays a foundation for realizing the independence, intelligence and digitization of the unmanned inspection equipment of the substation.
According to one aspect of the invention, a transformer substation unmanned inspection equipment data management method based on a space grid is provided, and the method comprises the following steps:
acquiring all transformer substation spatial position data to be managed and transformer substation scene equipment spatial position data;
carrying out substation scene grid space modeling according to the substation spatial position data and the substation scene equipment spatial position data to obtain a substation scene grid space model;
coding the substation scene equipment of the substation scene grid space model by using a Beidou earth grid model to obtain Beidou grid codes of the substation scene equipment;
storing the transformer substation scene equipment spatial position data and the corresponding Beidou grid codes of the transformer substation scene equipment into the transformer substation scene data index big table;
and planning a path of the unmanned inspection equipment according to the large transformer substation scene data index table, and managing intelligent inspection of the unmanned inspection equipment.
In one possible implementation, the Beidou position code is partitioned using ten basic grids of 4 °, 30 ', 15', 1 ', 4 ", 2", 1/4 ", 1/32", 1/256 ", 1/2048" from the earth's surface.
In one possible implementation, the Beidou position code comprises an 11-bit code;
wherein the first digit code is used to identify above-ground or below-ground;
the second bit code adopts division with the length consistent with that of 4 degrees of the equator and adopts the range of 0-63 for identification;
the third bit code is divided into a plurality of blocks with the same length as the equator 30', and is marked by a range of 0-7;
the fourth bit code is divided into a plurality of blocks with the same length as the equator 15', and is marked by a range of 0-1;
the fifth bit code adopts division with the length consistent with that of the equator 1', and the ranges of 0-9 and A-E are adopted for identification;
the sixth bit code adopts division with the length consistent with that of the equator 4' and adopts the ranges of 0-9 and A-E for identification;
the seventh bit of code is divided into the segments with the length consistent with that of the equator 2' and is marked by the range of 0-1;
the eighth bit code is divided into segments with the length consistent with that of the equator 1/4' and is marked by a range of 0-7;
the ninth bit code is divided into segments with the length consistent with that of the equator 1/32' and is marked by a range of 0-7;
the tenth code is divided into segments with the length consistent with that of the equator 1/256' and is marked by a range of 0-7;
the eleventh bit code is identified by a division of length consistent with equator 1/2048 "and by a range of 0-7.
In one possible implementation, the first bit code is used for identifying above-ground or below-ground, including: when the first bit code is "0", the mark is above the earth's surface, and when the first bit code is "1", the mark is below the earth's surface.
In a possible implementation manner, storing the transformer substation scene device spatial position data and the corresponding Beidou grid code of the transformer substation scene device to the transformer substation scene data index big table includes:
s31: constructing a plurality of host servers of the substation scene equipment, and storing the substation scene data index large table on the host servers for maintenance;
s32: the host server for maintenance stores the continuously received transformer substation scene equipment spatial position data and the corresponding Beidou grid codes of the transformer substation scene equipment to the transformer substation scene data index big table;
s33: when the content capacity stored in the large transformer substation scene data index table exceeds the maximum capacity of the large transformer substation scene data index table, the host server for maintaining divides the large transformer substation scene data index table into two parts, and sends one part of the large transformer substation scene data index table to an idle host server for maintaining;
s34: and repeating the steps S32-S33 until the transformer substation scene equipment space position data and the corresponding Beidou grid codes of the transformer substation scene equipment are input.
In one possible implementation manner, the substation scene equipment includes unmanned inspection equipment, a main transformer, a road and a cable.
In a possible implementation manner, the path planning of the unmanned inspection equipment according to the substation scene data index big table includes:
and planning a path of the unmanned inspection equipment according to the Beidou grid codes of the transformer substation scene road and the transformer substation scene road spatial position data.
According to the transformer substation unmanned inspection equipment data management method based on the space grid, all transformer substation space position data to be managed and transformer substation scene equipment space position data are obtained; carrying out substation scene grid space modeling according to the substation spatial position data and the substation scene equipment spatial position data to obtain a substation scene grid space model; coding the transformer substation scene equipment of the transformer substation scene grid space model by using the Beidou earth grid model to obtain Beidou grid codes of the transformer substation scene equipment; storing the transformer substation scene equipment spatial position data and the corresponding Beidou grid codes of the transformer substation scene equipment into a transformer substation scene data index big table; and (4) carrying out path planning on the unmanned inspection equipment according to the large table of the scene data index of the transformer substation, and managing the intelligent inspection of the unmanned inspection equipment. The intelligent management of the position of the scene equipment of the transformer substation and the intelligent planning of the dynamic target path of the unmanned inspection equipment are realized, and a foundation is laid for realizing the autonomy, intelligence and digitization of the unmanned inspection equipment of the transformer substation.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 shows a flow chart of a method for managing data of an unmanned inspection equipment of a transformer substation based on a spatial grid according to an embodiment of the present disclosure;
fig. 2 shows a Beidou grid based substation scene space model schematic according to an embodiment of the present disclosure;
fig. 3 shows a schematic diagram of a Beidou-based trellis coding structure according to an embodiment of the present disclosure;
fig. 4 illustrates a substation scenario device data base management schematic according to an embodiment of the present disclosure;
fig. 5 shows a further defined flowchart of step S3 according to an embodiment of the present disclosure.
Fig. 6 shows a schematic path planning diagram of a substation scenario unmanned inspection device according to an embodiment of the present disclosure;
fig. 7 shows a schematic diagram of association between substation scene unmanned inspection equipment and substation scene equipment data according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
Fig. 1 shows a flow chart of a method for managing data of unmanned inspection equipment of a transformer substation based on a spatial grid according to an embodiment of the present disclosure. The method is an effective and unified coding method for the multi-source substation scene data types, and the spatial position information of the substation scene data is utilized to carry out association by utilizing three-dimensional grid coding. As shown in fig. 1, the method may include:
step S1: and acquiring all the spatial position data of the transformer substation to be managed and the spatial position data of the scene equipment of the transformer substation.
The transformer substation scene equipment can comprise unmanned inspection equipment, a main transformer, a road, cables and other equipment, and the unmanned inspection equipment, the main transformer, the road and the cables are subjected to index management by using spatial position data of the unmanned inspection equipment, the main transformer, the road and the cables. In addition, according to the requirement of management data, the substation scene equipment may further include a low-voltage tower, a 0.4Kv station house, a wall support, and the like, which is not limited herein.
The spatial position data of the substation scene equipment (unmanned inspection equipment, main transformer, road, cable and other equipment) and the corresponding equipment data are stored in different databases, and may be stored in the form of data points or in the form of data ranges, or the data of some equipment is stored in the form of data points, and the data of some equipment is stored in the form of data ranges, which is not limited herein.
Step S2: and carrying out substation scene grid space modeling according to the substation spatial position data and the substation scene equipment spatial position data to obtain a substation scene grid space model.
Fig. 2 shows a transformer substation scene space model schematic diagram based on the beidou grid according to an embodiment of the present disclosure.
A grid space Modeling is performed based on a Building Information Modeling (Building informatization model) of the transformer substation, and as shown in fig. 2, the space model may be a data bearing base map in various service scenes of the transformer substation.
And establishing a refined three-dimensional grid digital twin model for the transformer substation scene according to the transformer substation spatial position data and the transformer substation scene equipment spatial position data based on the Beidou earth grid model. The three-dimensional grid graph of the transformer substation scene comprises the functions of displaying a three-dimensional model, comparing and displaying transparent grids, supporting scaling of the model, switching of the visual angle of the model and the like.
Step S3: and coding the substation scene equipment of the substation scene grid space model by using the Beidou earth grid model to obtain the Beidou grid code of the substation scene equipment.
Fig. 3 shows a schematic diagram of a Beidou-based trellis coding structure according to an embodiment of the present disclosure.
According to the Beidou space model of the transformer substation scene, unique Beidou grid codes can be given to the transformer substation scene equipment controlled by the Beidou space model. The principle of defining and dividing the three-dimensional Beidou grid height domain follows the height domain defining and dividing method specified by 20141448-T-466, the Beidou position code can be divided by ten basic grids which form a distance of 4 degrees, 30 ', 15 ', 1 ', 4 ", 2", 1/4 ", 1/32", 1/256 "and 1/2048" with the earth surface, and the Beidou grid code (grid height dimension direction code) structure is shown in figure 3.
In one example, the beidou position code includes 11-bit code, and the code structure and code value thereof may be: the first digit code is used to identify the ground or underground, and when the first digit code is "0", the first digit code is above the ground, and when the first digit code is "1", the first digit code is below the ground. The second bit code is identified by a division of length equal to 4 ° of the equator, using a range of 0-63, each division being about 445.28 km. The third bit code is identified by a division of length consistent with the equator 30', identified by a range of 0-7, each division being about 55.66 km. The fourth bit of the code is identified by divisions of length equal to the equator 15', identified by a range of 0-1, each division being about 27.83 km. The fifth bit code is identified by a division of length 1' on the equator, identified by a range of 0-9, A-E, each division being approximately 21.85km. the sixth bit code is identified by a division of length 4 "on the equator, identified by a range of 0-9, A-E, each division being approximately 123.69 km. The seventh bit code is identified using partitions of length consistent with the equator 2 ", identified using a range of 0-1, each partition being about 61.84 m. The eighth bit code is identified by divisions of length equal to the equator 1/4 "and by ranges of 0-7, each division being about 7.73 m. The ninth bit code is identified by a division of length consistent with equator 1/32 ", identified by a range of 0-7, each division being about 0.97 m. The tenth code is identified using divisions of length consistent with equator 1/256 "identified with a range of 0-7, each division being about 12.1 cm. The eleventh bit code is identified using divisions of length consistent with equator 1/2048 "identified with a range of 0-7, each division being about 1.5 cm.
Fig. 4 shows a substation scenario device data base management diagram according to an embodiment of the present disclosure.
Through the Beidou grid code of the substation scene equipment, when the substation scene equipment is intelligently managed and the substation scene data is inquired, the grid frame corresponding to the substation scene equipment can be obtained through the Beidou grid position code, the real position of the substation scene equipment is highlighted, and as shown in fig. 4, the attribute information of the substation scene, such as the name, voltage level, model, delivery time and commissioning time of the substation scene equipment, can be displayed.
Step S4: and storing the spatial position data of the substation scene equipment and the corresponding Beidou grid codes of the substation scene equipment into the substation scene data index big table.
Fig. 5 shows a further defined flowchart of step S3 according to an embodiment of the present disclosure.
As shown in fig. 5, step S3 may further include:
s31: constructing a plurality of host servers of the substation scene equipment, and storing the substation scene data index large table on the host servers for maintenance;
s32: the host server for maintenance stores the continuously received transformer substation scene equipment spatial position data and the corresponding Beidou grid codes of the transformer substation scene equipment to the transformer substation scene data index big table;
s33: when the content capacity stored in the large transformer substation scene data index table exceeds the maximum capacity of the large transformer substation scene data index table, the host server for maintaining divides the large transformer substation scene data index table into two parts, and sends one part of the large transformer substation scene data index table to an idle host server for maintaining;
s34: and repeating the steps S32-S33 until the transformer substation scene equipment space position data and the corresponding Beidou grid codes of the transformer substation scene equipment are input.
Step S5: and (4) carrying out path planning on the unmanned inspection equipment according to the large table of the scene data index of the transformer substation, and managing the intelligent inspection of the unmanned inspection equipment.
Fig. 6 shows a schematic path planning diagram of a substation scenario unmanned inspection device according to an embodiment of the present disclosure.
The transformer substation scene data index big table stores the Beidou grid codes of the transformer substation scene equipment and the transformer substation scene equipment spatial position data, so that the path planning of the unmanned inspection equipment can be carried out according to the Beidou grid codes of the transformer substation scene roads and the transformer substation scene road spatial position data.
The path data planning of the unmanned inspection equipment based on the space position of the transformer substation scene road can be established through Beidou grid coding of the transformer substation scene road, the path setting of the unmanned inspection equipment can comprise four steps of path selection, path confirmation, inspection hierarchy confirmation and inspection starting, and as shown in fig. 6, the path planning schematic diagram of the unmanned inspection equipment is obtained.
Fig. 7 shows a schematic diagram of association between substation scene unmanned inspection equipment and substation scene equipment data according to an embodiment of the present disclosure.
As shown in fig. 7, according to the grid position change when the unmanned inspection device (e.g., a robot) moves, substation scene device information existing in a grid near each path position of the unmanned inspection device is automatically associated and displayed, and service support such as space integration, planning, positioning, coordination and association analysis of substation scene dynamic devices and static devices is realized.
By adding the transformer substation scene road code into the data resource of the transformer substation scene and planning the unmanned inspection equipment by using the grid code, the adjacent equipment data are automatically associated along with the movement of the inspection robot, and the service support of space integration, planning, positioning, cooperation, association analysis and the like of the dynamic and static equipment of the transformer substation scene is realized.
According to the transformer substation unmanned inspection equipment data management method based on the spatial grid, transformer substation scene data are inquired through grid codes, so that a spatial range corresponding to each transformer substation scene data is subjected to grid and grid coding, and each grid code corresponds to the covered transformer substation scene data. Therefore, effective and unified organization planning of the scene data of the transformer substation is achieved, and the excellent aggregation characteristic of the Beidou grid code is utilized to form an aggregation relation with the existing data organization grid. Under a transformer substation scene earth subdivision organization system, various types of data products can be quickly aggregated according to application requirements of various industries. The intelligent management of the equipment position of the transformer substation space and the intelligent planning of the dynamic target path of the unmanned inspection equipment can be realized, and a foundation is laid for realizing the independence, intelligence and digitization of the unmanned inspection equipment of the transformer substation.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (7)
1. A transformer substation unmanned inspection equipment data management method based on a space grid is characterized by comprising the following steps:
acquiring all transformer substation spatial position data to be managed and transformer substation scene equipment spatial position data;
carrying out substation scene grid space modeling according to the substation spatial position data and the substation scene equipment spatial position data to obtain a substation scene grid space model;
coding the substation scene equipment of the substation scene grid space model by using a Beidou earth grid model to obtain Beidou grid codes of the substation scene equipment;
storing the transformer substation scene equipment spatial position data and the corresponding Beidou grid codes of the transformer substation scene equipment into the transformer substation scene data index big table;
and planning a path of the unmanned inspection equipment according to the large transformer substation scene data index table, and managing intelligent inspection of the unmanned inspection equipment.
2. The substation unmanned inspection device data management method of claim 1, wherein the Beidou position code is partitioned into ten basic grids of 4 °, 30 ', 15', 1 ', 4 ", 2", 1/4 ", 1/32", 1/256 ", 1/2048" from the earth's surface.
3. The substation unmanned inspection device data management method according to claim 2, wherein the Beidou position code comprises 11-bit codes;
wherein the first digit code is used to identify above-ground or below-ground;
the second bit code adopts division with the length consistent with that of 4 degrees of the equator and adopts the range of 0-63 for identification;
the third bit code is divided into a plurality of blocks with the same length as the equator 30', and is marked by a range of 0-7;
the fourth bit code is divided into a plurality of blocks with the same length as the equator 15', and is marked by a range of 0-1;
the fifth bit code adopts division with the length consistent with that of the equator 1', and the ranges of 0-9 and A-E are adopted for identification;
the sixth bit code adopts division with the length consistent with that of the equator 4' and adopts the ranges of 0-9 and A-E for identification;
the seventh bit of code is divided into the segments with the length consistent with that of the equator 2' and is marked by the range of 0-1;
the eighth bit code is divided into segments with the length consistent with that of the equator 1/4' and is marked by a range of 0-7;
the ninth bit code is divided into segments with the length consistent with that of the equator 1/32' and is marked by a range of 0-7;
the tenth code is divided into segments with the length consistent with that of the equator 1/256' and is marked by a range of 0-7;
the eleventh bit code is identified by a division of length consistent with equator 1/2048 "and by a range of 0-7.
4. The substation unmanned inspection device data management method of claim 3, wherein the first bit code is used to identify above ground or below ground, comprising: when the first bit code is "0", the mark is above the earth's surface, and when the first bit code is "1", the mark is below the earth's surface.
5. The substation unmanned inspection equipment data management method according to claim 1, wherein the step of storing the substation scene equipment spatial position data and the corresponding Beidou grid codes of the substation scene equipment to the substation scene data index big table comprises the steps of:
s31: constructing a plurality of host servers of the substation scene equipment, and storing the substation scene data index large table on the host servers for maintenance;
s32: the host server for maintenance stores the continuously received transformer substation scene equipment spatial position data and the corresponding Beidou grid codes of the transformer substation scene equipment to the transformer substation scene data index big table;
s33: when the content capacity stored in the large transformer substation scene data index table exceeds the maximum capacity of the large transformer substation scene data index table, the host server for maintaining divides the large transformer substation scene data index table into two parts, and sends one part of the large transformer substation scene data index table to an idle host server for maintaining;
s34: and repeating the steps S32-S33 until the transformer substation scene equipment space position data and the corresponding Beidou grid codes of the transformer substation scene equipment are input.
6. The substation unmanned inspection device data management method according to claim 1, wherein the substation scene devices include unmanned inspection devices, main transformers, roads and cables.
7. The substation unmanned inspection equipment data management method according to claim 7, wherein the path planning of the unmanned inspection equipment according to the substation scene data index big table comprises:
and planning a path of the unmanned inspection equipment according to the Beidou grid codes of the transformer substation scene road and the transformer substation scene road spatial position data.
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| CN113932793A (en) * | 2021-09-24 | 2022-01-14 | 江门职业技术学院 | Three-dimensional coordinate positioning method and device, electronic equipment and storage medium |
| CN117575579A (en) * | 2024-01-17 | 2024-02-20 | 长江水利委员会长江科学院 | Hydraulic engineering perspective inspection method and related device based on BIM and knowledge graph |
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| CN113932793B (en) * | 2021-09-24 | 2024-03-22 | 江门职业技术学院 | Three-dimensional coordinate positioning method, three-dimensional coordinate positioning device, electronic equipment and storage medium |
| CN117575579A (en) * | 2024-01-17 | 2024-02-20 | 长江水利委员会长江科学院 | Hydraulic engineering perspective inspection method and related device based on BIM and knowledge graph |
| CN117575579B (en) * | 2024-01-17 | 2024-04-09 | 长江水利委员会长江科学院 | Hydraulic engineering perspective inspection method and related device based on BIM and knowledge graph |
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