CN114578188B - Power grid fault positioning method based on Beidou satellite - Google Patents
Power grid fault positioning method based on Beidou satellite Download PDFInfo
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- 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
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
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- 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
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/086—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution networks, i.e. with interconnected conductors
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- 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
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/088—Aspects of digital computing
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
- Y04S10/52—Outage or fault management, e.g. fault detection or location
Abstract
The invention relates to a power grid fault positioning method based on a Beidou satellite, wherein the positioning method carries out basic monitoring through a monitoring module configured on a power grid line and finds a line section with an abnormal operation state on the power grid line; then, a first detection device is assigned to quickly detect the line section in the abnormal state, a suspected power grid assembly possibly having defects or damage is found, and the positioning coordinates of the suspected power grid assembly are uploaded to a mobile base station; and then, assigning a second detection device to further carry out recheck of the positioning coordinate on the suspicious power grid component so as to determine the correctness of the positioning coordinate obtained by the first detection device, and calculating the deviation amount of the second detection device and the first detection device after secondary positioning, thereby ensuring the consistency and the accuracy of the whole positioning system.
Description
Technical Field
The invention relates to satellite positioning technology. Particularly, the invention relates to a power grid fault positioning method based on a Beidou satellite.
Background
At present, because a large number of power grids are arranged in remote areas, the difficulty of physical positioning is high, when the power grids break down, a dispatcher is required to accurately and quickly judge the fault according to received power grid fault information, corresponding processing measures can be taken, the physical positioning position of a facility with the fault is quickly positioned, and the normal operation of the power grids is timely recovered, so that the dispatcher is required to have abundant theoretical knowledge and sufficient practical experience of power system operation. If the latest satellite positioning system is adopted, especially the Beidou satellite positioning system which is self-developed in China is adopted to carry out the positioning of the power grid fault, the time and the cost required by the processing of the power grid fault problem can be optimized.
Referring to related published technical schemes, the technical scheme with the publication number of CN113848426 (a) provides a way of calculating, counting and analyzing one or more fault points existing in the power grid by using three-phase unbalance degrees of a plurality of power utilization terminals in the power grid, and then matching transformer data in a distribution network graph model system, so as to find out a power grid element with a fault; the technical scheme of the publication number CN107167709A provides a technical scheme that instantaneous current information on a three-phase line at a plurality of monitoring points is utilized to calculate zero sequence current of each monitoring point, and whether a fault occurs in a power grid is judged according to the zero sequence current value, so as to locate a line segment with the fault in the power grid.
The foregoing discussion of the background art is intended only to facilitate an understanding of the present invention. This discussion is not an acknowledgement or admission that any of the material referred to is part of the common general knowledge.
Disclosure of Invention
The invention aims to provide a power grid fault positioning method based on a Beidou satellite; the positioning method carries out basic monitoring through a monitoring module configured on a power grid line and finds a line section with an abnormal operation state on the power grid line; then, a first detection device is assigned to quickly detect the line section in the abnormal state, a suspected power grid assembly possibly having defects or damage is found, and the positioning coordinates of the suspected power grid assembly are uploaded to a mobile base station; and then, assigning a second detection device to further carry out recheck of the positioning coordinates on the suspicious power grid assembly so as to determine the correctness of the positioning coordinates obtained by the first detection device, and calculating the deviation amount of the second detection device and the first detection device after secondary positioning, thereby ensuring the consistency and the accuracy of the whole positioning system.
The invention adopts the following technical scheme:
a power grid fault positioning method based on a Beidou satellite comprises the following steps:
s1: the monitoring module monitors the power grid line, finds an abnormal operation state in the power grid and provides a power grid area partial number and a suspected fault line number in the abnormal operation state;
s2: when the first detection device reaches an abnormal power grid area, detecting a plurality of power grid components in the area, and feeding back component descriptions of the plurality of power grid components, one or more groups of first inspection data corresponding to each power grid component and first positioning coordinates corresponding to each group of first inspection data to the mobile base station;
s3: the mobile base station determines and identifies the described power grid component from the component description and the first check data, judges whether the power grid component is abnormal or not by analyzing the first check data, and marks the power grid component with the abnormality as a suspicious component;
s4: the second detection device arrives at the position indicated by the first positioning coordinate according to the first positioning coordinate of the suspicious assembly, rechecks the first positioning coordinate, determines a rechecked positioning coordinate and calculates the deviation amount of the first positioning coordinate and the rechecked positioning coordinate;
s5: the second detection device rechecks the suspicious assembly, determines a fault assembly and records the positioning coordinate of the fault assembly as a second positioning coordinate;
wherein, in step S4, the method comprises the following substeps:
s401: the second detection device applies for obtaining one or more groups of first inspection data corresponding to the first positioning coordinates of the suspicious component from a mobile base station after reaching the position of the suspicious component according to the first positioning coordinates of the suspicious component; the first inspection data at least comprise an RGB image and a structured light image of the power grid assembly, and the RGB image and the structured light image are used as first image data; further comprising a thermographic inspection image of the suspect component as first thermographic data;
s402: the second detection device circularly shoots a plurality of groups of image data of the suspicious assembly as second image data;
s403: matching a plurality of groups of second image data with the first image data, and selecting one group of image data which is most similar to the first image data from the second image data as review image data;
s404: taking the positioning coordinate when the rechecking image data is shot as a rechecking positioning coordinate;
optionally, in step S2, the following sub-steps are included:
s201: the first detection device starts to detect at the time t1 and sends all detection data within a time period delta t to the mobile base station at the time t1+ delta t;
s202: the first detecting means continues to perform detection of the next cycle at a time t2= t1+ Δ t; meanwhile, waiting for the mobile base station to confirm the first detection data at the time t 1;
s203: after acquiring first inspection data at the time t1, the mobile base station verifies the first image data in the inspection data, and after confirming that the definition and the resolution are qualified, the mobile base station instructs the first detection device to complete detection at the time t 1;
s204: if the first image data in the first check data at the time t1 is unqualified, indicating the first detection device to return to re-detect the unqualified data part at the time t1 after finishing the detection at the time t 2; after the first check data at the time t1 and the time t2 are both qualified, starting the check program at the time t3, that is, the first detection device waits for confirmation of the first check data within at most two time periods Δ t at the same time;
optionally, the component description includes a power grid component description, a power grid component structure label, and a power grid component device identifier; the first inspection data at least comprise an RGB image and a structured light image of the power grid assembly, and the RGB image and the structured light image are used as first image data; further comprising a thermographic inspection image of the suspect component as first thermographic data;
further, the positioning coordinates comprise horizontal positioning coordinates (x, y) and elevation coordinates h;
furthermore, the operation mode of the first detection device comprises manual remote control operation and automatic remote control operation;
optionally, the matching algorithm of the first image data and the second image data is a multi-point matching algorithm of three-dimensional structured light;
further, the positioning method comprises a power grid fault positioning system based on the Beidou satellite, and the positioning system comprises:
the monitoring module is configured at a plurality of power grid nodes in the power grid and used for monitoring the power grid among the plurality of node sections and acquiring the running state parameters of the power grid;
the detection device comprises a first detection device and a second detection device and is configured to execute a detection program on the power grid and the power grid component;
the mobile base station is used for being communicatively coupled to the monitoring module and the detection device and processing data requests of the monitoring module and the detection device, wherein the data requests comprise data uploading requests and data acquisition requests;
optionally, the first detection device and the second detection device are one or a combination of two or more of an unmanned aerial vehicle, a ground robot and an unmanned vehicle;
furthermore, each detection device comprises a positioning module, a detection module, a communication module, a driving module and a control module;
the positioning module is based on a Beidou satellite positioning system and is used for acquiring positioning coordinates of the detection device; the positioning module further comprises a gyroscope sensor, an acceleration sensor and a magnetic intensity sensor, and is used for determining the real-time attitude and the pointing angle of the detection device; the positioning module further comprises a barometric altimeter for determining the altitude of the detection device;
the detection module comprises a high-definition camera, a structured light sensor and a thermal imaging sensor;
the communication module is used for carrying out communication transmission on the positioning data and the detection data of the detection device and the mobile base station; and further for receiving control instructions for the detection means issued by the mobile base station;
the driving module is configured to drive the detection device to move, including ground movement and air movement;
the control module comprises a processor; the control module is in communication connection with the positioning module, the detection module, the communication module and the driving module and is used for controlling the cooperative work of the modules.
The beneficial effects obtained by the invention are as follows:
1. the positioning method adopts a secondary rechecking positioning method on the basis of the high-resolution positioning of the Beidou satellite, further reduces the positioning error and offset under the limited resolution, and can further improve the precision of the positioning coordinate of the fault assembly;
2. the positioning method is suitable for additional configuration of equipment and devices on the established power grid, and can further ensure low operation cost and operation benefit by carrying out differential configuration on the first detection device and the second detection device;
3. the positioning method is suitable for unmanned remote control obstacle removing operation in large-scale power grid construction, and brings practical application significance to vast remote areas;
the positioning system adopts modularized design and cooperation of all parts, and can be flexibly optimized and changed through software and hardware in the later period, so that a large amount of later maintenance and upgrading cost is saved.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is a schematic diagram illustrating the steps of the positioning method according to the present invention;
fig. 2 is a schematic diagram illustrating a detection principle of a first detection device in the positioning method according to the present invention;
FIG. 3 is a schematic diagram illustrating the detecting and positioning principles of a second detecting device in the positioning method according to the present invention;
FIG. 4 is a schematic diagram of the thermal imaging detection of the power grid assembly by the detection device according to the present invention;
FIG. 5 is a schematic diagram of image comparison using three-dimensional structured light according to the present invention.
Reference numerals in the drawings indicate: 11-nth grid component; 12-n +1 th power grid component; 13-n +2 power grid component; 100-a grid line; 101-a monitoring module; 102-a first detection device; 103-mobile base station; 104-second detection means.
Detailed Description
In order to make the technical solution and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the embodiments thereof; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it is to be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not intended to indicate or imply that the device or assembly referred to must have a specific orientation.
The first embodiment is as follows:
at present, along with the improvement of power supply equipment in remote areas, the construction of a large number of long-distance power grids is included; however, due to inconvenient traffic and bad traffic environment in part of areas, the power grid fault is difficult to accurately position, and most of the time, the power grid components need to be manually checked one by one on site to determine specific fault components, wherein a worker needs to spend a lot of time on positioning the fault point; therefore, a power grid fault positioning method based on the Beidou satellite is provided;
as shown in fig. 1, the power grid fault positioning method based on the Beidou satellite comprises the following steps:
s1: the monitoring module monitors the power grid line, finds an abnormal operation state in the power grid and provides a power grid area partial number and a suspected fault line number in the abnormal operation state;
s2: as shown in fig. 2, when the first detection device reaches an abnormal power grid region, performing detection on a plurality of power grid components in the region, and feeding back component descriptions of the plurality of power grid components and one or more sets of first inspection data corresponding to each power grid component and first positioning coordinates corresponding to each set of first inspection data to the mobile base station;
s3: the mobile base station determines and identifies the described power grid component from the component description and the first check data, judges whether the power grid component is abnormal or not by analyzing the first check data, and marks the power grid component with the abnormality as a suspicious component;
s4: as shown in fig. 3, the second detection device reaches the position indicated by the first positioning coordinate according to the first positioning coordinate of the suspicious component, performs rechecking on the first positioning coordinate, determines a rechecking positioning coordinate, and calculates a deviation amount between the first positioning coordinate and the rechecking positioning coordinate;
s5: the second detection device rechecks the suspicious assembly, determines a fault assembly and records the positioning coordinate of the fault assembly as a second positioning coordinate;
wherein, in step S4, the method comprises the following substeps:
s401: the second detection device applies for obtaining one or more groups of first inspection data corresponding to the first positioning coordinates of the suspicious component from a mobile base station after reaching the position of the suspicious component according to the first positioning coordinates of the suspicious component; the first inspection data at least comprise RGB images and structured light images of the power grid assembly, and the RGB images and the structured light images are used as first image data; further comprising a thermographic inspection image of the suspect component as first thermographic data;
s402: the second detection device cyclically shoots a plurality of groups of image data of the suspicious assembly as second image data;
s403: matching a plurality of groups of second image data with the first image data, and selecting one group of image data which is most similar to the first image data from the second image data as review image data;
s404: taking the positioning coordinate when the rechecking image data is shot as a rechecking positioning coordinate;
optionally, in step S2, the following sub-steps are included:
s201: the first detection device starts to detect at the time t1 and transmits all detection data within the time period delta t to the mobile base station at the time t1+ delta t;
s202: the first detecting means continues to perform detection of the next cycle at a time t2= t1+ Δ t; meanwhile, waiting for the mobile base station to confirm the first detection data at the time t 1;
s203: after acquiring first inspection data at the time t1, the mobile base station verifies the first image data in the inspection data, and after confirming that the definition and the resolution are qualified, the mobile base station instructs the first detection device to complete detection at the time t 1;
s204: if the first image data in the first check data at the time t1 is unqualified, indicating the first detection device to return to re-detect the unqualified data part at the time t1 after finishing the detection at the time t 2; after the first check data at the time t1 and the time t2 are both qualified, starting the check program at the time t3, that is, the first detection device waits for confirmation of the first check data within at most two time periods Δ t at the same time;
optionally, the component description includes a power grid component description, a power grid component structure label, and a power grid component device identifier; the first inspection data at least comprise an RGB image and a structured light image of the power grid assembly, and the RGB image and the structured light image are used as first image data; further comprising a thermographic inspection image of the suspect component as first thermographic data;
further, the positioning coordinates comprise horizontal positioning coordinates (x, y) and elevation coordinates h;
furthermore, the operation mode of the first detection device comprises manual remote control operation and automatic remote control operation;
optionally, the matching algorithm of the first image data and the second image data is a multi-point matching algorithm of three-dimensional structured light;
further, the positioning method comprises a power grid fault positioning system based on the Beidou satellite, and the positioning system comprises:
the monitoring module is configured at a plurality of power grid nodes in the power grid and used for monitoring the power grid among the plurality of node sections and acquiring the running state parameters of the power grid;
the detection device comprises a first detection device and a second detection device and is configured to execute a detection program on the power grid and the power grid component;
the mobile base station is used for being communicatively coupled to the monitoring module and the detection device and processing data requests of the monitoring module and the detection device, wherein the data requests comprise data uploading requests and data acquisition requests;
optionally, the first detection device and the second detection device are one or a combination of two or more of an unmanned aerial vehicle, a ground robot and an unmanned vehicle;
furthermore, each detection device comprises a positioning module, a detection module, a communication module, a driving module and a control module;
the positioning module is based on a Beidou satellite positioning system and is used for acquiring positioning coordinates of the detection device; the positioning module further comprises a gyroscope sensor, an acceleration sensor and a magnetic intensity sensor, and is used for determining the real-time attitude and the pointing angle of the detection device; the positioning module further comprises a barometric altimeter for determining the altitude of the detection device;
the detection module comprises a high-definition camera, a structured light sensor and a thermal imaging sensor;
the communication module is used for carrying out communication transmission on the positioning data and the detection data of the detection device and the mobile base station; and further for receiving control instructions for the detection means issued by the mobile base station;
the driving module is configured to drive the detection device to move, including ground movement and air movement;
the control module comprises a processor; the control module is in communication connection with the positioning module, the detection module, the communication module and the driving module and is used for controlling the cooperative work of the modules.
Example two:
this embodiment should be understood to include at least all of the features of any of the foregoing embodiments and further modifications thereon;
in this embodiment, the monitoring module may be a monitoring device based on terminal transformer data; the monitoring module periodically acquires the power quality data of the terminal transformer in the power grid line section; in some embodiments, the method includes comparing three-phase imbalance data of a previous acquisition cycle and a current acquisition cycle;
specifically, the following formula is used:
wherein, V1、V2、V3The effective value of the phase voltage of each phase in the three-phase circuit collected for the terminal distribution transformer; d is an intermediate variable; gamma is the unbalance degree of the three-phase voltage of the section of the power grid line; whether a circuit fault occurs in the power grid line sections can be monitored by counting and comparing the unbalance degrees of the monitoring modules in the power grid line sections in the current period and the previous period; furthermore, by means of a value matched with terminal transformer data in the distribution network graph-model system, a power network segment of a power network with a fault can be further determined; wherein, the interval time of each period can be 30 minutes or 60 minutes;
further, in this embodiment, the method includes setting one mobile base station every 10 kilometers or 15 kilometers; the mobile base station supplies power through the power grid to maintain the normal operation of all devices and systems in the mobile base station; in some embodiments, the mobile base station comprises a charging platform configured to charge the detection device, so as to ensure that the detection device can obtain continuous power supplement during long-distance remote control operation to ensure the endurance of the detection device;
optionally, the mobile base station includes a transceiver configured to perform wireless data communication with the detection apparatus, for example, based on radio communication, spread spectrum microwave communication, 5G mobile network communication, or short message communication based on the beidou satellite system;
optionally, the mobile base station includes a server terminal configured for data communication, data processing, and data storage; the server can be in the forms of a desktop computer, a mobile computer, a diskless cloud server and the like; the servers of the mobile base ends form one or more local area networks, and are used for data transmission among the mobile base stations and achieving the purposes of data backup, data processing and the like;
further, the mobile base station comprises a communication connection with a general base station; the overall base station is configured to implement overall control and scheduling on a plurality of the mobile base stations and is used for coordinating the detection progress and the recording and arrangement of the sequence of the plurality of the first detection devices and the second detection devices;
in this embodiment, the detection device is preferably a small drone, otherwise known as an unmanned aerial vehicle; wherein the drone of the first and second detection devices may have the same or different configuration of functional modules;
wherein the detection device is preferably a rotary wing drone; the driving module of the rotary-wing unmanned aerial vehicle comprises a plurality of rotor wing groups, a motor for driving the rotor wing groups, and an energy source for driving the motor to rotate; wherein, the power supply of the motor can comprise that the battery pack provides power to drive; and in some embodiments may include driving with a fossil fuel, such as gasoline, diesel, etc., via an internal combustion engine-type motor;
wherein, the rotary wing type unmanned aerial vehicle can comprise six or eight groups of rotary wing groups; the unmanned aerial vehicle can be made to perform ascending/descending movement, four-directional horizontal movement by controlling the rotating speed of each rotor group and the body gravity center inclination of the rotor type unmanned aerial vehicle, and comprises hovering at a fixed height in the air to perform detection of the continuity of the power grid and the power grid components, and comprises correcting the positioning module through hovering or small-range rotary flight, or providing a positioning execution time length required for positioning the unmanned aerial vehicle;
in some embodiments, the detection apparatus includes one or more sensor devices for image capture, such as a camera or other image capture device, further including an infrared thermography sensor, a structured light sensor, a multispectral sensor, a hyperspectral sensor, a laser sensor, or the like; in embodiments where the drone is equipped with a camera, the camera may be permanently fixed or removably attached; the camera can capture images of the environment where the unmanned aerial vehicle is located; in some embodiments, the captured image data is streamed live from the drone to the mobile base station through the communication module and further streamed to the overall base station to provide real-time flight pictures to control personnel; in other embodiments, the image data may be saved in an onboard memory while also being saved remotely to a server of the mobile base station; the captured image data may then be retrieved from an on-board memory of the detection device, an external storage medium, or the like;
as shown in fig. 4, by performing thermal imaging detection on the grid components at multiple positions through an infrared thermal imaging sensor, the components in which abnormal heat overflow or heat accumulation occurs and the positions of the components can be found;
the structured light sensor configured in the detection device projects light with certain structural characteristics to a shot object, such as a power grid assembly and a cable in the embodiment, through an infrared laser, and then a special infrared camera collects reflected structured light patterns, and calculates depth information according to a triangulation principle; the structured light method does not depend on the color and texture of an object, and adopts a method of actively projecting a known pattern to realize fast and robust matching of characteristic points, so that higher precision can be achieved; compared with the traditional picture recording technology which can only record plane images, two-dimensional outlines of the plane images and color representation data, the three-dimensional structured light can quickly and accurately realize depth information acquisition and record three-dimensional data of a shot object;
meanwhile, as shown in fig. 5, the use of structured light based image data may further be used for matching of two similar images; by comparing two groups of image data based on the structured light, whether shooting objects of the two groups of current data are the same object can be distinguished, and further whether shooting angles and distances between the shooting objects and the shot objects are consistent or close can be determined; therefore, by image comparison based on structured light, it can be determined whether the second image data and the first image data have the same or similar image data, so as to determine whether the second detection device has reached the same position and has the same shooting height and the same shooting angle when shooting the second image data as the first detection device when shooting the first image data;
further, after the setting is passed through the comparison, a group of the first image data and the second image data which are the same or closest to the image data are selected; wherein the first image data has a corresponding first location coordinate of (x)1,y1,h1) The second image data corresponding to the second review positioning coordinate is (x)2,y2,h2) (ii) a Because the first detection device needs to be rapidly checked according to factors such as the endurance electric quantity, the coverage area of a power grid to be checked and the like, the first detection device is in a continuous moving state, and the stay time at one position is too short, so that the first detection device cannot wait for a positioning module to provide a sufficient positioning coordinate identification and confirmation process;
after the second detection device is preliminarily checked through the first detection device, only the suspicious component can be checked in a targeted manner, and based on the validity and stability of detection, the second detection device can be configured to have more stable hovering capability and configuration of the positioning module with higher precision, so that more accurate positioning coordinates are obtained;
furthermore, the general positioning resolution of the current Beidou satellite positioning system can reach about 0.1 m, and by adopting the positioning method, a certain satellite signal drift error or positioning offset caused by space obstacle error can be eliminated in a secondary positioning mode, so that the recheck of the positioning coordinate is realized;
and further, by locating the first location coordinate (x)1,y1,h1) And the second location coordinate (x)2,y2,h2) Comparing to obtain a group of offset values; if the horizontal coordinate or the elevation coordinate part in the offset value has overlarge offset, one or both of the positioning modules of the detection device may have defects, and the mobile base station needs to return to the mobile base station in time to wait for further detection.
Example three:
this embodiment should be understood to include at least all of the features of any of the foregoing embodiments and further modifications thereon;
in order to further improve the positioning coordinate precision of the detection device, the embodiment is optimized by a further positioning method;
optionally, at least one of the first detection devices and at least one of the second detection devices form a joint positioning set; each of the detection devices within one of the co-location groups as a member of that co-location group;
optionally, the positioning modules of the members in the joint positioning group respectively obtain original satellite positioning data such as a carrier phase of a Beidou satellite navigation signal;
the members in the combined positioning group respectively acquire inertial navigation measurement information through a gyroscope sensor and an acceleration sensor of the members;
setting two members of the first member and the second member as a first member and a second member respectively; the first member acquires satellite positioning data and inertial navigation observation information of the second member;
the first member processes and fuses satellite positioning data and inertial navigation observation information of the first member and the second member, and judges the availability of the Beidou satellite by observing the change condition of the observation data of the Beidou satellite; performing fusion calculation according to the availability and data fusion condition of the Beidou satellite, and measuring high-precision relative position vectors of the first member and the second member;
through the positioning steps, the orbit error and the clock error of the Beidou satellite can be reduced, the real-time positioning precision is improved, the operation under the long-distance operation and severe satellite signal conditions is facilitated, all-weather work and data transmission can be realized, and the real-time observation data can be obtained;
the original observation data comprise a broadcast ephemeris, pseudo-range observation values and carrier phase observation values of different frequencies, the correction data comprise an orbit correction number, a clock error correction number and an inter-code deviation correction number which correspond to broadcasting time, the broadcast ephemeris and the orbit correction number of the current time determine a satellite precise orbit of the current time, and the broadcast ephemeris and the clock error correction number of the current time determine a satellite precise clock error of the current time; correcting pseudo-range observation values of different frequencies by the inter-code deviation correction number to obtain corrected pseudo-range observation values of different frequencies, and determining the position of the equipment to be positioned at the current moment according to the satellite precision orbit, the satellite precision clock error and the corrected pseudo-range observation values;
optionally, the GNSS antenna receives the BDSB1 signal and the GPSL1 signal, amplifies the signals and transmits the amplified signals to the GNSS positioning time service resolving module, and the GNSS positioning time service resolving module is connected with a communication module based on a 4G or 5G communication network segment to track and capture the BDSB1 signal and the GPSL1 signal and resolve positioning information and time information; the communication module comprises a gateway and a remote mobile terminal; and the communication module receives RTK differential data and transmits the RTK differential data to the communication module for data intercommunication among the members of the joint positioning group and between each member and the mobile base station.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of example configurations, including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
In conclusion, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that these examples are illustrative only and are not intended to limit the scope of the invention. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (7)
1. A power grid fault positioning method based on a Beidou satellite is characterized by comprising the following steps:
s1: the monitoring module monitors the power grid line, finds an abnormal operation state in the power grid and provides a power grid area partial number and a suspected fault line number in the abnormal operation state;
s2: when the first detection device reaches an abnormal power grid area, detecting a plurality of power grid components in the area, and feeding back component descriptions of the plurality of power grid components, one or more groups of first inspection data corresponding to each power grid component and first positioning coordinates corresponding to each group of first inspection data to the mobile base station;
s3: the mobile base station determines and identifies the described power grid component from the component description and the first check data, judges whether the power grid component is abnormal or not by analyzing the first check data, and marks the power grid component with the abnormality as a suspicious component;
s4: the second detection device arrives at the position indicated by the first positioning coordinate according to the first positioning coordinate of the suspicious assembly, rechecks the first positioning coordinate, determines a rechecked positioning coordinate and calculates the deviation amount of the first positioning coordinate and the rechecked positioning coordinate;
s5: the second detection device rechecks the suspicious assembly, determines a fault assembly and records the positioning coordinate of the fault assembly as a second positioning coordinate;
wherein, in step S4, the method comprises the following substeps:
s401: the second detection device applies for obtaining one or more groups of first inspection data corresponding to the first positioning coordinates of the suspicious component from a mobile base station after reaching the position of the suspicious component according to the first positioning coordinates of the suspicious component; the first inspection data at least comprise RGB images and structured light images of the power grid assembly, and the RGB images and the structured light images are used as first image data; further comprising a thermographic inspection image of the suspect component as first thermographic data;
s402: the second detection device cyclically shoots a plurality of groups of image data of the suspicious assembly as second image data;
s403: matching a plurality of groups of second image data with the first image data, and selecting one group of image data which is most similar to the first image data from the second image data as review image data;
s404: taking the positioning coordinate when the rechecking image data is shot as a rechecking positioning coordinate;
in step S2, the following substeps are included:
s201: the first detection device starts to detect at the time t1 and transmits all detection data within the time period delta t to the mobile base station at the time t1+ delta t;
s202: the first detecting means continues to perform detection of the next cycle at a time t2= t1+ Δ t; meanwhile, waiting for the mobile base station to confirm the first detection data at the time t 1;
s203: after acquiring first inspection data at the time t1, the mobile base station verifies the first image data in the inspection data, and after confirming that the definition and the resolution are qualified, the mobile base station instructs the first detection device to complete detection at the time t 1;
s204: if the first image data in the first check data at the time t1 is unqualified, indicating the first detection device to return to re-detect the unqualified data part at the time t1 after finishing the detection at the time t 2; after the first check data at the time t1 and the time t2 are both qualified, starting the check program at the time t3, that is, the first detection device waits for confirmation of the first check data within at most two time periods Δ t at the same time;
each detection device comprises a positioning module, a detection module, a communication module, a driving module and a controller
Manufacturing a module;
the positioning module is based on a Beidou satellite positioning system and is used for acquiring positioning coordinates of the detection device; the positioning module further comprises a gyroscope sensor, an acceleration sensor and a magnetic intensity sensor, and is used for determining the real-time attitude and the pointing angle of the detection device; the positioning module further comprises a barometric altimeter for determining the altitude of the detection device;
the detection module comprises a high-definition camera, a structured light sensor and a thermal imaging sensor;
the communication module is used for carrying out communication transmission on the positioning data and the detection data of the detection device and the mobile base station; and further for receiving control instructions for the detection means issued by the mobile base station;
the driving module is configured to drive the detection device to move, including ground movement and air movement;
the control module comprises a processor; the control module is in communication connection with the positioning module, the detection module, the communication module and the driving module and is used for controlling the cooperative work of the modules.
2. The Beidou satellite-based power grid fault location method according to claim 1, wherein the component description comprises a power grid component description, a power grid component structure tag and a power grid component equipment identifier.
3. The Beidou satellite-based power grid fault location method according to claim 2, wherein the location coordinates comprise horizontal location coordinates (x, y) and elevation coordinates h.
4. The Beidou satellite-based power grid fault location method according to claim 3, wherein the operation modes of the first detection device comprise manual remote control operation and automatic remote control operation.
5. The Beidou satellite-based power grid fault location method according to claim 4, wherein the matching algorithm of the first image data and the second image data is a three-dimensional structured light-based multipoint matching algorithm.
6. The Beidou satellite-based power grid fault location method according to claim 5, characterized in that the location method comprises a Beidou satellite-based power grid fault location system, and the location system comprises:
the monitoring module is configured at a plurality of power grid nodes in the power grid and used for monitoring the power grid among the node sections and acquiring the running state parameters of the power grid;
the detection device comprises a first detection device and a second detection device and is configured to detect the power grid and the power grid component;
and the mobile base station is used for being communicatively coupled to the monitoring module and the detection device and processing data requests of the monitoring module and the detection device, wherein the data requests comprise data uploading requests and data acquisition requests.
7. The Beidou satellite-based power grid fault location method according to claim 6, wherein the first detection device and the second detection device are one or a combination of two or more of unmanned aerial vehicles, ground robots and unmanned vehicles.
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| CN202210496220.2A CN114578188B (en) | 2022-05-09 | 2022-05-09 | Power grid fault positioning method based on Beidou satellite |
| PCT/CN2022/100983 WO2023216382A1 (en) | 2022-05-09 | 2022-06-24 | Power grid fault positioning method based on beidou satellite |
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| CN202210496220.2A CN114578188B (en) | 2022-05-09 | 2022-05-09 | Power grid fault positioning method based on Beidou satellite |
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