CN114721003A - Overhead transmission line icing state monitoring device and method based on two-dimensional laser radar - Google Patents

Overhead transmission line icing state monitoring device and method based on two-dimensional laser radar Download PDF

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Publication number
CN114721003A
CN114721003A CN202210385095.8A CN202210385095A CN114721003A CN 114721003 A CN114721003 A CN 114721003A CN 202210385095 A CN202210385095 A CN 202210385095A CN 114721003 A CN114721003 A CN 114721003A
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CN
China
Prior art keywords
laser radar
transmission line
dimensional laser
monitoring device
state monitoring
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Pending
Application number
CN202210385095.8A
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Chinese (zh)
Inventor
毛先胤
陈沛龙
彭赤
杜昊
张伟
杨旗
黄欢
张啟黎
牛唯
鲁彩江
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Guizhou Power Grid Co Ltd
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Guizhou Power Grid Co Ltd
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Publication date
Application filed by Guizhou Power Grid Co Ltd filed Critical Guizhou Power Grid Co Ltd
Priority to CN202210385095.8A priority Critical patent/CN114721003A/en
Publication of CN114721003A publication Critical patent/CN114721003A/en
Pending legal-status Critical Current

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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
    • H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G7/00—Overhead installations of electric lines or cables
    • H02G7/16—Devices for removing snow or ice from lines or cables
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Power Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses an icing state monitoring device and method for an overhead transmission line based on a two-dimensional laser radar. The invention can realize the global coverage of the measurement of the ground distance of the power transmission line; meanwhile, the two-dimensional laser radar is simple to install, and the laser radar can adapt to outdoor work for a long time due to the peripheral structural design; the laser ranging mode also has the advantages of high precision, strong anti-interference capability and the like; and the method has timeliness and can discover potential safety hazards in time.

Description

Overhead transmission line icing state monitoring device and method based on two-dimensional laser radar
Technical Field
The invention relates to the technical field of monitoring of icing states of overhead transmission lines, in particular to a device and a method for monitoring the icing states of the overhead transmission lines based on a two-dimensional laser radar.
Background
The transmission line is a main part of electric energy transmission in the power grid, normal and safe operation of the transmission line is an important guarantee for avoiding major accidents of the power grid, and ice coating accidents pose a serious threat to the operation safety of the transmission line. Icing is a serious natural disaster of the power system, and the mechanical and electrical properties of the power transmission line are rapidly reduced due to the serious icing, so that accidents such as pole falling, tower falling, conductor galloping, line breaking (strand), conductor phase or earth discharge, insulator flashover and the like of the power transmission line are caused, power supply interruption is caused, and the serious threat is caused to the safe and stable operation of the power system.
The existing icing state monitoring technology mainly has the following problems:
1. some icing models can only be suitable for calculating icing extreme conditions;
2. parameters and formulas related to ice thickness calculation of a part of models are too many, so that engineering application is not facilitated;
3. the installation is difficult, and the precision is not high, can't adapt to the condition of long-term icing state.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the device and the method for monitoring the icing state of the overhead transmission line based on the two-dimensional laser radar are provided to solve the technical problems in the prior art.
The technical scheme adopted by the invention is as follows: the utility model provides an overhead transmission line icing state monitoring devices based on two-dimensional laser radar, includes patrolling line robot, two-dimensional laser radar and raspberry group, and two-dimensional laser radar and raspberry group install on patrolling line robot and two-dimensional laser radar arrange towards ground, and two-dimensional laser radar is connected to the raspberry group electrically, and the raspberry group is connected to the host computer.
A monitoring method of an ice coating state monitoring device of an overhead transmission line based on a two-dimensional laser radar is disclosed, and the method comprises the following steps: the inspection robot is mounted on the power transmission line through a control wheel hub, and the reciprocating motion on the power transmission line is realized through a control motor; the two-dimensional laser radar realizes the timing measurement of the ground distance; the raspberry group is used for collecting, storing and sending radar data; and the remote upper computer realizes data communication and data processing and display with the raspberry group.
Starting a two-dimensional laser radar under the condition that a transmission line is not covered with ice, moving on the transmission line according to the speed of 0-5 m/s by adjusting the rotating speed of a walking motor of an inspection robot, adopting an average value for the ground distance at the same position, obtaining a large number of ground distance values at different positions, obtaining a plurality of dense distance discrete points, fitting the distance discrete points into a smooth curve through a parabola theory, and recording the curve as an initial state; assuming that the transmission line is evenly coated with ice, the transmission line moves downwards, and the distance between the transmission line and the ground after ice coating corresponds to X of the local minimum value2I.e. X corresponding to the local minimum in the non-icing state1(ii) a Therefore, when the transmission line is iced, the local minimum value of the ground distance measurement is searched through the movement of the line patrol robot, the local minimum value is compared with the minimum ground distance, namely the lowest point, in the initial parabola, the difference value is obtained, namely the sag change value delta fx of the point, and the icing condition of the transmission line at the moment is reflected by the sag change value delta fx.
Preferably, the raspberry pie is installed in a front electrical cabin of the line patrol robot, and the two-dimensional laser radar, the shell of the two-dimensional laser radar and a power supply connected with the two-dimensional laser radar are installed in a rear electrical cabin of the line patrol robot.
Preferably, the bottom of the shell facing the ground is provided with an opening, the periphery of the opening is provided with a groove, and the groove is additionally provided with a heating wire.
Preferably, the two-dimensional laser radar is vertically installed with the motion direction of the line patrol robot, the radar measurement range is determined according to the opening degree of the shell, and the average value is obtained after noise data are filtered through an algorithm.
Preferably, the two-dimensional laser radar is connected to the raspberry pie through a USB port and a USB line matched with the USB port, and the USB port is connected with a relay.
The invention has the beneficial effects that: compared with the prior art, the two-dimensional laser radar can realize global coverage of the power transmission line to the ground distance measurement by taking the inspection robot mounted on the high-voltage power transmission line as a moving and supporting carrier; meanwhile, the two-dimensional laser radar is simple to install, and the laser radar can adapt to outdoor work for a long time due to the peripheral structural design; the laser ranging mode also has the advantages of high precision, strong anti-interference capability and the like; the device has timeliness, can find potential safety hazards in time, is convenient to install, can adapt to monitoring of icing conditions for a long time, and is simple in calculation, wide in application range, simple and easy to use and convenient for engineering application.
Drawings
FIG. 1 is a schematic flow diagram of a method for monitoring icing conditions in accordance with the present invention;
FIG. 2 is a schematic view of a monitoring device mounting arrangement;
FIG. 3 is a scatter plot of the acquired data;
FIG. 4 is a parabolic plot obtained after the fitting of FIG. 3;
fig. 5 is a schematic view of the mounting structure of the two-dimensional lidar.
Detailed Description
The invention is further described below with reference to specific examples.
Example 1: as shown in fig. 2, the overhead transmission line icing state monitoring device based on the two-dimensional laser radar comprises a line patrol robot 1, a two-dimensional laser radar 2 and a raspberry pie 3, wherein the two-dimensional laser radar 2 and the raspberry pie 3 are installed on the line patrol robot 1, the two-dimensional laser radar 2 is arranged towards the ground 4, the two-dimensional laser radar 2 is electrically connected to the raspberry pie 3, and the raspberry pie 3 is connected to an upper computer; the two-dimensional laser radar 2 is used for measuring the ground distance in a timing mode; the raspberry group is used for collecting, storing and sending radar data; the upper computer is used for data communication and data processing and display with the raspberry pie; the inspection robot 1 is mounted on a power transmission line and controls to walk back and forth.
The raspberry pie 3 is installed in a front electrical cabin of the inspection robot 1, the two-dimensional laser radar 2, a shell of the two-dimensional laser radar and a power supply 5 connected with the two-dimensional laser radar are installed in a rear electrical cabin of the inspection robot 1, and therefore balance of the overall gravity center of the inspection robot and stability of motion postures are guaranteed;
considering the outdoor severe weather conditions, the shell of the two-dimensional laser radar 2 is designed in a mode that holes are formed only in the direction of the ground, and the rest surfaces are closed, so that the good waterproof performance of the radar is guaranteed; meanwhile, in order to ensure that the rime ice freezes to influence radar ranging, a heating wire is additionally arranged around the hole, so that the radar sight is not blocked; as shown in fig. 5, the shell comprises a first shell 6 of the cavity and a second shell 7 of the cavity, the first shell 6 covers the second shell 7 and is locked by screws or bolts to form the shell, a square opening 8 facing the ground is formed in one side of the shell, a heating wire placing groove 9 is formed in the opening edge of the opening 8, a heating wire is placed in the heating wire placing groove 9, a cover plate 10 covers the heating wire after the heating wire is placed, and the two-dimensional laser radar 2 is installed in the shell and the probe faces the direction of the opening 8.
Aiming at the measurement deviation possibly caused by the galloping of the power transmission line caused by outdoor wind, the radar measurement range is determined through the opening degree of the two-dimensional laser radar shell in the installation mode that the two-dimensional laser radar is perpendicular to the motion direction of the line patrol robot, and the average value is obtained after noise data are filtered through an algorithm, so that the influence caused by wind deflection can be effectively reduced;
in order to ensure the lossless transmission of a large amount of data streams generated by the two-dimensional laser radar every second, the two-dimensional laser radar is connected with the raspberry group in a wired mode through the USB port, and simultaneously supplies power to the raspberry group and the laser radar in a wired connection mode, and the relay is used for controlling the on-off of the switch.
Example 2: as shown in fig. 1 to 4, a monitoring method of an ice coating state monitoring device for an overhead transmission line based on a two-dimensional laser radar comprises the following steps: the inspection robot is mounted on the power transmission line through a control wheel hub, and the reciprocating motion on the power transmission line is realized through a control motor; the two-dimensional laser radar realizes the timing measurement of the ground distance; the raspberry group realizes the collection, storage and transmission of radar data; the remote upper computer realizes data communication and data processing and display with the raspberry group; the data is collected every n seconds; alarm information and sag change threshold values are set before data acquisition.
The method for processing the acquired data by the upper computer comprises the following steps: starting a two-dimensional laser radar under the condition that a transmission line is not covered with ice, moving on the transmission line according to the speed of 0-5 m/s by adjusting the rotating speed of a walking motor of an inspection robot, obtaining a large number of ground distance values at different positions by adopting an average value for the ground distance at the same position, obtaining a plurality of dense distance discrete points, fitting the distance discrete points into a smooth curve through a parabola theory, and recording the curve as an initial state; assuming that the transmission line is evenly coated with ice, the transmission line moves downwards, and the distance between the transmission line and the ground after ice coating corresponds to X of the local minimum value2I.e. X corresponding to the local minimum value in the non-icing state1(ii) a Therefore, when the transmission line is iced, the local minimum value of the ground distance measurement is searched through the motion of the line patrol robot, the local minimum value is compared with the minimum ground distance, namely the lowest point, in the initial parabola to obtain a difference value, namely the sag change value delta fx of the point, and the icing condition of the transmission line at the moment is reflected by the sag change value delta fx. And when the sag change value delta fx is larger than the sag change threshold value, alarming and reminding.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and therefore the scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The utility model provides an overhead transmission line icing state monitoring devices based on two-dimensional laser radar which characterized in that: including patrolling line robot, two-dimensional laser radar and raspberry group are installed on patrolling line robot and two-dimensional laser radar arranges towards ground, and two-dimensional laser radar is connected to the raspberry group electrically, and the raspberry group is connected to the host computer.
2. The overhead transmission line icing state monitoring device based on the two-dimensional laser radar as claimed in claim 1, wherein: the raspberry pie is installed in a front electrical cabin of the line patrol robot, and the two-dimensional laser radar, the shell of the two-dimensional laser radar and a power supply connected with the two-dimensional laser radar are installed in a rear electrical cabin of the line patrol robot.
3. The overhead transmission line icing state monitoring device based on the two-dimensional laser radar as claimed in claim 2, wherein: the bottom of the shell facing the ground is provided with an opening, the periphery of the opening is provided with a groove, and a heating wire is additionally arranged at the groove.
4. The overhead transmission line icing state monitoring device based on the two-dimensional laser radar as claimed in claim 1, wherein: the two-dimensional laser radar is vertically installed with the motion direction of the inspection robot, the radar measurement range is determined according to the opening degree of the shell, and the average value is obtained after noise data are filtered through an algorithm.
5. The overhead transmission line icing state monitoring device based on the two-dimensional laser radar as claimed in claim 1, wherein: the two-dimensional laser radar is connected to the raspberry pie through the USB port and the USB line matched with the USB port, and the USB port is connected with the relay.
6. The monitoring method of the ice coating state monitoring device for the overhead transmission line based on the two-dimensional laser radar according to any one of claims 1 to 5, characterized in that: the method comprises the following steps: the inspection robot is mounted on the power transmission line through a control wheel hub, and the reciprocating motion on the power transmission line is realized through a control motor; the two-dimensional laser radar realizes the timing measurement of the ground distance; the raspberry group realizes the collection, storage and transmission of radar data; and the remote upper computer realizes data communication and data processing and display with the raspberry group.
7. The monitoring method of the ice coating state monitoring device for the overhead transmission line based on the two-dimensional laser radar as claimed in claim 6, wherein the monitoring method comprises the following steps: the method for processing the acquired data by the upper computer comprises the following steps: starting a two-dimensional laser radar under the condition that a transmission line is not covered with ice, moving on the transmission line according to the speed of 0-5 m/s by adjusting the rotating speed of a walking motor of an inspection robot, obtaining a large number of ground distance values at different positions by adopting an average value for the ground distance at the same position, obtaining a plurality of dense distance discrete points, fitting the distance discrete points into a smooth curve through a parabola theory, and recording the curve as an initial state; assuming that the transmission line is evenly coated with ice, the transmission line moves downwards, and the distance between the transmission line and the ground after ice coating corresponds to X of the local minimum value2I.e. X corresponding to the local minimum in the non-icing state1(ii) a Therefore, when the transmission line is iced, the local minimum value of the ground distance measurement is searched through the motion of the line patrol robot, the local minimum value is compared with the minimum ground distance, namely the lowest point, in the initial parabola to obtain a difference value, namely the sag change value delta fx of the point, and the icing condition of the transmission line at the moment is reflected by the sag change value delta fx.
8. The monitoring method of the ice coating state monitoring device for the overhead transmission line based on the two-dimensional laser radar as claimed in claim 6, wherein the monitoring method comprises the following steps: data was collected every n seconds.
9. The monitoring method of the ice coating state monitoring device for the overhead transmission line based on the two-dimensional laser radar as claimed in claim 6, wherein the monitoring method comprises the following steps: alarm information and sag change threshold values are set before data acquisition.
10. The monitoring method of the ice coating state monitoring device for the overhead transmission line based on the two-dimensional laser radar as claimed in claim 7, wherein the monitoring method comprises the following steps: and when the sag change value delta fx is larger than the sag change threshold value, alarming and reminding are carried out.
CN202210385095.8A 2022-04-13 2022-04-13 Overhead transmission line icing state monitoring device and method based on two-dimensional laser radar Pending CN114721003A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210385095.8A CN114721003A (en) 2022-04-13 2022-04-13 Overhead transmission line icing state monitoring device and method based on two-dimensional laser radar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210385095.8A CN114721003A (en) 2022-04-13 2022-04-13 Overhead transmission line icing state monitoring device and method based on two-dimensional laser radar

Publications (1)

Publication Number Publication Date
CN114721003A true CN114721003A (en) 2022-07-08

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CN (1) CN114721003A (en)

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