CN114819451A - Method and system suitable for optimizing routing inspection modes of multiple types of mobile terminals of power transmission line - Google Patents
Method and system suitable for optimizing routing inspection modes of multiple types of mobile terminals of power transmission line Download PDFInfo
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Abstract
The invention discloses a method and a system suitable for optimizing a multi-terminal inspection mode of a power transmission line, and belongs to the technical field of intelligent inspection of the power transmission line. The method comprises the following steps: aiming at the power transmission line, extracting a routing inspection benefit influence factor of the power transmission line; setting indexes of the power transmission line cooperative inspection benefits, and calculating weights of the indexes of the power transmission line cooperative inspection benefits; setting a routing inspection combination mode of a routing inspection line aiming at a single routing inspection mode of the power transmission line; dividing the routing inspection lines into a plurality of routing inspection paths according to the transmission tower intervals, determining routing inspection benefit influence factors on the routing inspection paths, calculating routing inspection benefits of the single routing inspection mode under three-level indexes, and determining a routing inspection combination mode when the routing inspection benefits of the routing inspection lines are maximum according to calculation results. The invention is beneficial to realizing cost reduction and efficiency improvement of the line inspection work, and has certain standardized reference guidance function on the line inspection work.
Description
Technical Field
The invention relates to the technical field of intelligent inspection of a power transmission line, in particular to a method and a system suitable for optimizing an inspection mode of a power transmission line terminal.
Background
The traditional manual inspection mode has high working strength and low efficiency, is difficult to inspect flat openings and above partial defects in a fault manner, and is difficult to meet the inspection requirement of the power transmission line under special terrain and meteorological conditions. In recent years, with the development of technologies such as unmanned aerial vehicles and robots, the technologies such as unmanned aerial vehicle inspection and online robot inspection are gradually applied to power transmission line inspection. The national grid company is deepening the application of the technologies of manual mobile inspection, unmanned inspection and on-line robot inspection, adopts information communication technologies such as a wireless sensing network, artificial intelligence, edge calculation, 5G mobile communication and the like, deeply fuses the typical application scenes of power transmission services, builds a smart power transmission line, changes the traditional manual operation and maintenance mode into a three-dimensional inspection and centralized monitoring inspection mode, and realizes digital operation and maintenance upgrading of power transmission.
With the wide application of various mobile terminals such as a manual mobile inspection handheld terminal, an unmanned aerial vehicle and a robot inspection terminal installed on a line, the problems of single function, low cooperation degree and the like of various conventional mobile terminals are increasingly highlighted, a cooperative inspection decision technology suitable for various multi-task mobile terminals in a complex dynamic scene does not exist, and the application and development requirements of future three-dimensional inspection cannot be met.
Disclosure of Invention
Aiming at the problems, the invention provides a method suitable for optimizing a multi-terminal inspection mode of a power transmission line, which comprises the following steps:
aiming at the power transmission line, extracting a routing inspection benefit influence factor of the power transmission line;
setting indexes of the power transmission line cooperative inspection benefits, and calculating weights of the indexes of the power transmission line cooperative inspection benefits;
setting a routing inspection combination mode of a routing inspection line aiming at a single routing inspection mode of the power transmission line;
the method comprises the steps of dividing a routing inspection line into a plurality of routing inspection paths according to a transmission tower interval, determining routing inspection benefit influence factors on the routing inspection paths, calculating routing inspection benefits of a single routing inspection mode under three-level indexes, and determining a routing inspection combination mode when the routing inspection benefits of the routing inspection line are maximum according to a calculation result.
Optionally, the types of the terminal include: artifical removal terminal of patrolling and examining, many rotor unmanned aerial vehicle patrol and examine terminal, fixed wing unmanned aerial vehicle patrol and examine terminal and on-line robot patrol and examine terminal.
Optionally, the inspection benefit influence factor includes: terrain condition, weather condition, tower height, tower type, split number, loop number and inspection type.
Optionally, the first-level index is a benefit, and the second-level index includes: quality, security, efficiency and economic nature, tertiary index includes: the method comprises the following steps of identifying the defects above the flat opening of the tower and the defects of the ground wire, identifying the defects below the flat opening of the tower, identifying the device, identifying the marks and the marks, identifying the buildings and the woods, identifying the infrastructure, identifying the personal safety, the equipment safety, the body safety, the inspection efficiency, the maneuvering efficiency, the inspection cost, the equipment cost and the training cost.
Optionally, the inspection combination mode includes: 4 single inspection modes, 6 two-combination inspection modes, 4 three-combination inspection modes and 1 four-combination inspection mode;
the 4 kinds of single inspection modes include: a mobile inspection mode, a multi-rotor unmanned aerial vehicle inspection mode, a fixed-wing unmanned aerial vehicle inspection mode and an online robot inspection mode;
6 kinds of two combination mode of patrolling and examining include: the combined mode of mobile inspection and multi-rotor unmanned aerial vehicle inspection, the combined mode of mobile inspection and fixed-wing unmanned aerial vehicle inspection, the combined mode of mobile inspection and online robot inspection, the combined mode of multi-rotor unmanned aerial vehicle inspection and fixed-wing unmanned aerial vehicle inspection, the combined mode of multi-rotor unmanned aerial vehicle inspection and online robot inspection, and the combined mode of fixed-wing unmanned aerial vehicle inspection and online robot inspection;
the 4 kinds of three combination mode of patrolling and examining include: the combined mode of mobile inspection, multi-rotor unmanned aerial vehicle inspection and fixed-wing unmanned aerial vehicle inspection, the combined mode of mobile inspection, multi-rotor unmanned aerial vehicle inspection and online robot inspection, the combined mode of mobile inspection, fixed-wing unmanned aerial vehicle inspection and online robot inspection, and the combined mode of multi-rotor unmanned aerial vehicle inspection, fixed-wing unmanned aerial vehicle inspection and online robot inspection;
the 1 kind of four make up mode of patrolling and examining includes: the combined mode of mobile inspection, multi-rotor unmanned aerial vehicle inspection, fixed-wing unmanned aerial vehicle inspection and online robot inspection.
Optionally, confirm to patrol and examine the circuit and patrol and examine the combination mode of patrolling and examining when the benefit is the biggest, include:
determining a routing inspection benefit influence factor on a routing inspection path;
quantifying the effect indexes of the inspection mode according to the inspection benefit influence factors;
determining the weight of the benefit index;
according to the quantization result and the weight of the benefit index, different inspection modes are combined and calculated, and an inspection mode with the best inspection benefit is determined;
and the benefit index quantification result is a calculation result for calculating the inspection benefit of the single inspection mode under the three-level index.
The invention also provides a system suitable for optimizing the multi-terminal inspection mode of the power transmission line, which comprises the following steps:
the influence factor extraction unit is used for extracting the inspection benefit influence factor of the power transmission line aiming at the power transmission line;
the weight calculation unit is used for setting indexes of the power transmission line cooperative inspection benefits and calculating the weight of the indexes of the power transmission line cooperative inspection benefits;
the inspection mode combination unit is used for setting an inspection combination mode of an inspection line aiming at a single inspection mode of the power transmission line;
and the calculation unit is used for dividing the routing inspection line into a plurality of routing inspection paths according to the transmission tower interval, determining routing inspection benefit influence factors on the routing inspection paths, calculating routing inspection benefits of the single routing inspection mode under the three-level index, and determining a routing inspection combination mode when the routing inspection benefits of the routing inspection line are maximum according to the calculation result.
Optionally, the types of the terminal include: artifical removal terminal of patrolling and examining, many rotor unmanned aerial vehicle patrol and examine terminal, fixed wing unmanned aerial vehicle patrol and examine terminal and on-line robot patrol and examine terminal.
Optionally, the inspection benefit influence factor includes: terrain condition, weather condition, tower height, tower type, split number, loop number and inspection type.
Optionally, the first-level index is a benefit, and the second-level index includes: quality, security, efficiency and economic nature, tertiary index includes: the method comprises the following steps of identifying the defects above the flat opening of the tower and the defects of the ground wire, identifying the defects below the flat opening of the tower, identifying the device, identifying the marks and the marks, identifying the buildings and the woods, identifying the infrastructure, identifying the personal safety, the equipment safety, the body safety, the inspection efficiency, the maneuvering efficiency, the inspection cost, the equipment cost and the training cost.
Optionally, the inspection combination mode includes: 4 single inspection modes, 6 two-combination inspection modes, 4 three-combination inspection modes and 1 four-combination inspection mode;
the 4 kinds of single inspection modes include: a mobile inspection mode, a multi-rotor unmanned aerial vehicle inspection mode, a fixed-wing unmanned aerial vehicle inspection mode and an online robot inspection mode;
6 kinds of two combination mode of patrolling and examining include: the combined mode of mobile inspection and multi-rotor unmanned aerial vehicle inspection, the combined mode of mobile inspection and fixed-wing unmanned aerial vehicle inspection, the combined mode of mobile inspection and online robot inspection, the combined mode of multi-rotor unmanned aerial vehicle inspection and fixed-wing unmanned aerial vehicle inspection, the combined mode of multi-rotor unmanned aerial vehicle inspection and online robot inspection, and the combined mode of fixed-wing unmanned aerial vehicle inspection and online robot inspection;
the 4 kinds of three combination mode of patrolling and examining include: the combined mode of mobile inspection, multi-rotor unmanned aerial vehicle inspection and fixed-wing unmanned aerial vehicle inspection, the combined mode of mobile inspection, multi-rotor unmanned aerial vehicle inspection and online robot inspection, the combined mode of mobile inspection, fixed-wing unmanned aerial vehicle inspection and online robot inspection, and the combined mode of multi-rotor unmanned aerial vehicle inspection, fixed-wing unmanned aerial vehicle inspection and online robot inspection;
the 1 kind of four make up mode of patrolling and examining includes: the combined mode of mobile inspection, multi-rotor unmanned aerial vehicle inspection, fixed-wing unmanned aerial vehicle inspection and online robot inspection.
Optionally, confirm to patrol and examine the circuit and patrol and examine the combination mode of patrolling and examining when the benefit is the biggest, include:
determining a routing inspection benefit influence factor on a routing inspection path;
quantifying the effect indexes of the inspection mode according to the inspection benefit influence factors;
determining the weight of the benefit index;
according to the quantization result and the weight of the benefit index, different inspection modes are combined and calculated, and an inspection mode with the best inspection benefit is determined;
and the benefit index quantification result is a calculation result for calculating the inspection benefit of the single inspection mode under the three-level index.
The invention also provides a computer-readable storage medium, which stores a computer program for executing the method suitable for optimizing the multi-terminal inspection mode of the power transmission line.
The invention can determine the inspection combination mode when the inspection benefit of the inspection line is maximum, and can provide the optimal inspection combination mode for inspection work; the method is beneficial to realizing cost reduction and efficiency improvement of the line inspection work, and has a certain standardized reference guiding function on the line inspection work.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a flowchart of a weight calculation according to an embodiment of the present invention;
FIG. 3 is a flow chart of the optimization calculation of the present invention;
fig. 4 is a block diagram of the system of the present invention.
Detailed Description
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, however, the invention may be embodied in many different forms and is not limited to the embodiments described herein, which are provided for complete and complete disclosure of the invention and to fully convey the scope of the invention to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
The invention discloses a method suitable for optimizing a multi-terminal inspection mode of a power transmission line, which comprises the following steps of:
aiming at the power transmission line, extracting a routing inspection benefit influence factor of the power transmission line;
setting indexes of the power transmission line cooperative inspection benefits, and calculating weights of the indexes of the power transmission line cooperative inspection benefits;
the indicators include: a first level index, a second level index and a third level index;
setting a routing inspection combination mode of a routing inspection line aiming at a single routing inspection mode of the power transmission line;
the method comprises the steps of dividing a routing inspection line into a plurality of routing inspection paths according to a transmission tower interval, determining routing inspection benefit influence factors on the routing inspection paths, calculating routing inspection benefits of a single routing inspection mode under three-level indexes, and determining a routing inspection combination mode when the routing inspection benefits of the routing inspection line are maximum according to a calculation result.
The type of the mobile terminal comprises: artifical removal terminal of patrolling and examining, many rotor unmanned aerial vehicle terminal of patrolling and examining, fixed wing unmanned aerial vehicle terminal of patrolling and examining and on-line robot terminal of patrolling and examining.
Wherein, patrol and examine benefit influence factor, include: terrain condition, weather condition, tower height, tower type, split number, loop number and inspection type.
Wherein, the first grade index is benefit, and the second grade index comprises: quality, security, efficiency and economic nature, tertiary index includes: the method comprises the following steps of identifying the defects above the flat opening of the tower and the defects of the ground wire, identifying the defects below the flat opening of the tower, identifying the device, identifying the marks and the marks, identifying the buildings and the woods, identifying the infrastructure, identifying the personal safety, the equipment safety, the body safety, the inspection efficiency, the maneuvering efficiency, the inspection cost, the equipment cost and the training cost.
Wherein, patrol and examine the compound mode, include: 4 kinds of single mode of patrolling and examining, 6 kinds of two combination modes of patrolling and examining, 4 kinds of three combination modes of patrolling and examining and 1 kind of four combination modes of patrolling and examining.
Wherein, confirm to patrol and examine the circuit and patrol and examine the combination mode of patrolling and examining when the benefit is the biggest, include:
determining a routing inspection benefit influence factor on a routing inspection path;
quantifying the effect indexes of the inspection mode according to the inspection benefit influence factors;
determining the weight of the benefit index;
according to the quantization result and the weight of the benefit index, different inspection modes are combined and calculated, and an inspection mode with the best inspection benefit is determined;
and the benefit index quantification result is a calculation result for calculating the inspection benefit of the single inspection mode under the three-level index.
The invention will be further described with reference to specific embodiments:
as shown in fig. 2, the extraction and classification processing of the cooperative inspection benefit influence factor and the weight dereferencing are performed, which include:
extracting the cooperative inspection benefit influence factor of the power transmission line, comprising the following steps: 24 factors including terrain factor, weather factor, distance factor, tower type, tower height, line structure factor such as line loop number, vegetation factor, inspection object and operation mode. In the cooperative inspection benefit evaluation of the power transmission line, the factors influencing the evaluation object benefit are numerous, the influence condition is complex, and after the influence factors are analyzed, the influence factors are not in one dimension, so that the influence factors need to be reasonably classified. The results of the classification of the influence factors are shown in table 1:
TABLE 1
The indexes for reflecting the cooperative inspection benefit of the power transmission line mainly have five secondary indexes of effect, quality, safety, efficiency and cost. The effect contains two factors of efficiency and quality, so the index of the effect is removed in the research, and the four secondary indexes of inspection quality, safety, efficiency and economy are finally set to evaluate the cooperative inspection benefit.
The method is characterized in that a plurality of indexes obtained by a brain storm method are adjusted to a certain degree, on the basis of keeping important indexes, eliminating unreasonable indexes, combining similar indexes and converting secondary indexes, each adjusted index is classified and rearranged to form a systematic index system, each level of index in the newly formed index system has a new meaning, and for the accuracy and convenience of evaluation, the content of each index is defined one by one in the following table 2:
TABLE 2
And determining the weight of each index by adopting a grey prediction analysis method. For a factor between two systems, its measure of relevance size, which varies with time or different objects, is called relevance. If the two factors have consistency, the association degree between the two factors is considered to be higher, otherwise, the association degree is lower. When the grey prediction analysis method is adopted to determine the index weight, if the correlation degree between the evaluation index and the evaluation target is larger, the weight occupied by the index is also larger; conversely, the smaller the degree of correlation between the evaluation index and the evaluation target, the smaller the weight occupied by the index. For the weight judgment of each index, the secondary indexes "quality", "safety", "efficiency" and "cost" are taken as examples.
In the research, 10 experts in the field of power transmission line inspection are invited to carry out weight judgment on 4 indexes of quality, safety, efficiency and cost according to experience, and the results are shown in a table 3.
TABLE 3
As can be seen from the table "expert empirical values for secondary index weights", the largest empirical weight is 0.45, and therefore the reference weights assigned by experts in reference sequence X0 are all set to be 0.45. Mixing X 0 ，X 1 ，X 2， X 3 ，X 4 Is considered as a series and the series terms are made up of empirically determined values of weight, X 0 For reference series, X0, X 1 ，X 2 ，X 3 ，X 4 For comparison, the following formula (1) shows:
by using equation (2), a correlation coefficient between the empirical judgment value of each evaluation index and the reference weight is calculated by 10 experts, and the resolution coefficient ρ is taken to be 0.5. The calculated correlation coefficient is shown in the table
According to the formula (3), the correlation degree between the empirical judgment value of each evaluation index and the reference weight by 10 experts is calculated. The results are shown in Table 4.
Wherein:
TABLE 4
Converting the obtained association degree into weight coefficients of 'quality', 'safety', 'efficiency' and 'cost' according to a formula (4) to obtain W 1 ＝0.33，W 2 ＝0.19，W 3 ＝0.18，W 4 ＝0.30。
Similarly, the grey prediction analysis is adopted to determine the weights of the three-level indexes under 4 second-level indexes of quality, safety, efficiency and cost, so that the total weight of each three-level index to the benefit of the first-level index under the conventional inspection is obtained, as shown in table 5.
TABLE 5
As shown in fig. 3, the optimization of the inspection model includes:
the single mode of patrolling and examining that uses always has artifical removal to patrol and examine, many rotor unmanned aerial vehicle patrol and examine, fixed wing unmanned aerial vehicle patrol and the online robot is patrolled and examined, can regard it as basic mode of patrolling and examining at present. Can make up into 15 kinds of modes combinations of patrolling and examining by above 4 kinds of single modes of patrolling and examining altogether, wherein contain 4 kinds of single modes of patrolling and examining, 6 kinds of two combinations of patrolling and examining the mode, 4 kinds of three combinations of patrolling and examining mode and 1 kind of four combinations of patrolling and examining the mode, the specific combination condition is seen in table 6.
TABLE 6
| (Code) | Inspection mode combination |
| M 1 | Mobile inspection |
| M 2 | Multi-rotor unmanned aerial vehicle inspection tour |
| M 3 | Fixed wing unmanned aerial vehicle inspection |
| M 4 | On-line robot inspection |
| M 5 | Mobile patrol and multi-rotor unmanned aerial vehicle patrol |
| M 6 | Mobile inspection + fixed wing unmanned aerial vehicle inspection |
| M 7 | Mobile inspection + on-line robot inspection |
| M 8 | Multi-rotor unmanned aerial vehicle inspection and fixed-wing unmanned aerial vehicle inspection |
| M 9 | Multi-rotor unmanned aerial vehicle inspection + on-line robot inspection |
| M 10 | Fixed wing unmanned aerial vehicle patrols and examines + online machineRobot inspection |
| M 11 | Mobile inspection + multi-rotor unmanned aerial vehicle inspection + fixed-wing unmanned aerial vehicle inspection |
| M 12 | Mobile inspection + multi-rotor unmanned aerial vehicle inspection + on-line robot inspection |
| M 13 | Patrol and move and examine + fixed wing unmanned aerial vehicle patrols and examines + online robot patrols and examines |
| M 14 | Multi-rotor unmanned aerial vehicle inspection, fixed-wing unmanned aerial vehicle inspection and on-line robot inspection |
| M 15 | Mobile inspection + multi-rotor unmanned aerial vehicle inspection + fixed-wing unmanned aerial vehicle inspection + on-line robot inspection |
The inspection route is divided into inspection paths with the lengths of L1, L2, L3 and the like according to the tower section, the inspection benefits of the inspection modes under three-level indexes are evaluated and calculated according to the factors of the terrain environment, the altitude, the weather, the line type and the tower type of different inspection sections, and the inspection combination mode when the inspection benefits of the whole section of the route are maximum is sought.
a) Collaborative tour inspection influence factor
Based on literature reference and deep theoretical research, the inspection benefit influence factors in the inspection process of the power transmission line are preliminarily extracted, and the influence factors are classified, and the results are shown in the following table 7. The method can be divided into six working condition influence coefficients of weather influence, temperature influence, wind influence, linear influence, tower type influence and altitude influence.
TABLE 7
b) Quantification of effect indexes of different inspection modes by influence factors
Inviting experts in the power transmission line inspection field, sequentially scoring 4 basic inspection modes according to 14 three-level indexes under different topographic and geomorphic conditions, and marking the scores as basic assignment of index quantification
Such as
The method represents that the basic score of the index Q1 (the defect above the bottle mouth of the tower and the defect identification rate of the lead and ground wires) is manually inspected under the terrain of 'plain-farmland dense areas'.
And inviting experts in the power transmission line inspection field to respectively give linear influence coefficients and tower type influence coefficients of 4 basic inspection modes under the conditions of different loop numbers, splitting numbers, tower heights and tower types.
And inviting experts in the transmission line inspection field to respectively give elevation influence coefficients of 4 basic inspection modes under different elevation conditions.
From this, can obtain 6 operating mode condition influence coefficients, be respectively: weather influence coefficient ksurd, temperature influence coefficient ksurd, wind influence coefficient ksurd, line type influence coefficient kslinetype, tower type influence coefficient kstata and altitude influence coefficient kseaith.
The recognition rate (Q) of defects above the bottle mouth of the tower and defects of the ground wire under the topographic condition of' plain-farmland dense area 1 ) The quantization is an example, as shown in formula (5), which illustrates the quantization calculation method for each three-level index.
Wherein K 1 —K 6 Each represents K Weather (weather) 、K Temperature of 、K Wind power 、K Wire type 、K Tower shape And K Altitude (H) level 。
Then, the inspection benefits of 14 inspection indexes under the conditions of the environment, the tower, the line type and the like in the manual inspection mode can be obtained as shown in the formula (6):
ω i : the comprehensive weight value of the ith three-level benefit evaluation index;
Q 1 : the recognition rate of defects above the bottle mouth of the tower and the defects of the ground wire is increased;
Q 2 : identifying the defect rate below the tower bottle mouth;
Q 3 : the recognition rate of each device;
Q 4 : identification rate of various marks and identifications;
Q 5 : building and forest identification rate;
Q 6 : an infrastructure identification rate;
S 1 : personal safety;
S 2 : equipment safety;
S 3 : the safety of the body;
F 1 : the inspection efficiency is improved;
F 2 : maneuvering efficiency;
C 1 : the cost of routing inspection;
C 2 : equipment cost;
C 3 : and (5) training cost.
The same benefits of unit length of multi-rotor unmanned aerial vehicle inspection, fixed-wing unmanned aerial vehicle inspection and on-line robot inspection in the inspection section can be obtained
c) Optimal routing inspection mode for calculating routing inspection benefit
Can obtain the inspection benefit of the section
As shown in formula (7):
the inspection benefit is considered to be maximum under the index weights of 'quality', 'safety', 'efficiency' and 'cost', the obtained optimized target model is the maximum benefit of the whole inspection section, and a basic model expression (8) is as follows:
e is the inspection benefit of the whole inspection section. Due to the fact that the different inspection modes are different in inspection cost, equipment cost and training cost, different inspection modes still have different inspection targets. The influence of the inspection cost is reduced by adopting a single inspection mode for certain sections, so that the benefit of the single inspection mode is the maximum; for some specific routing inspection sections, the influence of the change of the cost on the benefit is small, and the influence of the safety and routing inspection effect of the equipment on the routing inspection benefit is large, so that the benefit can be maximized by adopting a cooperative routing inspection mode formed by multiple routing inspection task terminals. And the combination of different inspection modes is calculated by adopting a particle swarm algorithm, and the optimization target is that the inspection benefit of the whole interval is the maximum.
The present invention also provides a system 200 suitable for optimizing the multi-terminal inspection mode of the power transmission line, as shown in fig. 4, including:
the influence factor extraction unit 201 is configured to extract an influence factor of inspection benefit of the power transmission line;
the weight calculation unit 202 is used for setting indexes of the power transmission line cooperative inspection benefits and calculating the weights of the indexes of the power transmission line cooperative inspection benefits;
the indicators include: a first level index, a second level index and a third level index;
the inspection mode combination unit 203 sets an inspection combination mode of an inspection line aiming at a single inspection mode of the power transmission line;
the calculation unit 204 divides the routing inspection line according to the transmission tower interval, divides the routing inspection line into a plurality of routing inspection paths, determines routing inspection benefit influence factors on the routing inspection paths, calculates routing inspection benefits of the single routing inspection mode under the three-level index, and determines a routing inspection combination mode when the routing inspection benefits of the routing inspection line are maximum according to the calculation result.
The type of the mobile terminal comprises: artifical removal terminal of patrolling and examining, many rotor unmanned aerial vehicle terminal of patrolling and examining, fixed wing unmanned aerial vehicle terminal of patrolling and examining and on-line robot terminal of patrolling and examining.
Wherein, patrol and examine benefit influence factor, include: terrain condition, weather condition, tower height, tower type, split number, loop number and inspection type.
Wherein, the first grade index is benefit, the second grade index includes: quality, security, efficiency and economic nature, tertiary index includes: the method comprises the following steps of identifying the defects above the flat opening of the tower and the defects of the ground wire, identifying the defects below the flat opening of the tower, identifying the device, identifying the marks and the marks, identifying the buildings and the woods, identifying the infrastructure, identifying the personal safety, the equipment safety, the body safety, the inspection efficiency, the maneuvering efficiency, the inspection cost, the equipment cost and the training cost.
Wherein, patrol and examine the compound mode, include: 4 kinds of single mode of patrolling and examining, 6 kinds of two combination modes of patrolling and examining, 4 kinds of three combination modes of patrolling and examining and 1 kind of four combination modes of patrolling and examining.
Wherein, confirm to patrol and examine the circuit and patrol and examine the combination mode of patrolling and examining when the benefit is the biggest, include:
determining a routing inspection benefit influence factor on a routing inspection path;
quantifying the effect indexes of the inspection mode according to the inspection benefit influence factors;
determining the weight of the benefit index;
according to the quantization result and the weight of the benefit index, different inspection modes are combined and calculated, and an inspection mode with the best inspection benefit is determined;
and the benefit index quantification result is a calculation result for calculating the inspection benefit of the single inspection mode under the three-level index.
The invention also provides a computer-readable storage medium, which stores a computer program for executing the method suitable for optimizing the multi-terminal inspection mode of the power transmission line.
The invention is beneficial to realizing cost reduction and efficiency improvement of the line inspection work, and has a certain standardized reference guidance function on the line inspection work.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein. The scheme in the embodiment of the invention can be realized by adopting various computer languages, such as object-oriented programming language Java and transliterated scripting language JavaScript.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, it is intended that the present invention also encompass such modifications and variations.
Claims (13)
1. A method suitable for optimizing a multi-terminal inspection mode of a power transmission line comprises the following steps:
aiming at the power transmission line, extracting a routing inspection benefit influence factor of the power transmission line;
setting indexes of the power transmission line cooperative inspection benefits, and calculating weights of the indexes of the power transmission line cooperative inspection benefits;
setting a routing inspection combination mode of a routing inspection line aiming at a single routing inspection mode of the power transmission line;
dividing the routing inspection lines into a plurality of routing inspection paths according to the transmission tower intervals, determining routing inspection benefit influence factors on the routing inspection paths, calculating routing inspection benefits of the single routing inspection mode under three-level indexes, and determining a routing inspection combination mode when the routing inspection benefits of the routing inspection lines are maximum according to calculation results.
2. The method of claim 1, the type of terminal, comprising: artifical removal terminal of patrolling and examining, many rotor unmanned aerial vehicle patrol and examine terminal, fixed wing unmanned aerial vehicle patrol and examine terminal and on-line robot patrol and examine terminal.
3. The method of claim 1, the inspection benefit impact factor, comprising: terrain condition, weather condition, tower height, tower type, split number, loop number and inspection type.
4. The method of claim 1, wherein the primary metrics are benefits and the secondary metrics comprise: quality, security, efficiency and economic nature, tertiary index includes: the method comprises the following steps of identifying the defects above the flat opening of the tower and the defects of the ground wire, identifying the defects below the flat opening of the tower, identifying the device, the marks and the marks, identifying the buildings and the woods, identifying the infrastructure, identifying the personal safety, the equipment safety, the body safety, the inspection efficiency, the maneuvering efficiency, the inspection cost, the equipment cost and the training cost.
5. The method of claim 1, the inspection combination, comprising: 4 single inspection modes, 6 two-combination inspection modes, 4 three-combination inspection modes and 1 four-combination inspection mode;
the 4 kinds of single inspection modes include: a mobile inspection mode, a multi-rotor unmanned aerial vehicle inspection mode, a fixed-wing unmanned aerial vehicle inspection mode and an online robot inspection mode;
6 kinds of two combination mode of patrolling and examining include: the combined mode of mobile inspection and multi-rotor unmanned aerial vehicle inspection, the combined mode of mobile inspection and fixed-wing unmanned aerial vehicle inspection, the combined mode of mobile inspection and online robot inspection, the combined mode of multi-rotor unmanned aerial vehicle inspection and fixed-wing unmanned aerial vehicle inspection, the combined mode of multi-rotor unmanned aerial vehicle inspection and online robot inspection, and the combined mode of fixed-wing unmanned aerial vehicle inspection and online robot inspection;
the 4 kinds of three combination mode of patrolling and examining include: the combined mode comprises a mobile inspection mode, a multi-rotor unmanned aerial vehicle inspection mode and a fixed-wing unmanned aerial vehicle inspection mode, a mobile inspection mode, a multi-rotor unmanned aerial vehicle inspection mode and an online robot inspection mode, a mobile inspection mode, a fixed-wing unmanned aerial vehicle inspection mode and an online robot inspection mode, and a multi-rotor unmanned aerial vehicle inspection mode, a fixed-wing unmanned aerial vehicle inspection mode and an online robot inspection mode;
the 1 kind of four make up mode of patrolling and examining includes: the combined mode of moving inspection, multi-rotor unmanned aerial vehicle inspection, fixed-wing unmanned aerial vehicle inspection and online robot inspection.
6. The method according to claim 1, wherein the determining of the inspection combination mode when the inspection line has the maximum inspection benefit comprises the following steps:
determining a routing inspection benefit influence factor on a routing inspection path;
quantifying the effect indexes of the inspection mode according to the inspection benefit influence factors;
determining the weight of the benefit index;
according to the quantization result and the weight of the benefit index, different inspection modes are combined and calculated, and an inspection mode with the best inspection benefit is determined;
and the benefit index quantification result is a calculation result for calculating the inspection benefit of the single inspection mode under the three-level index.
7. A system suitable for optimizing a multi-terminal inspection mode of a power transmission line comprises:
the influence factor extraction unit is used for extracting the inspection benefit influence factor of the power transmission line aiming at the power transmission line;
the weight calculation unit is used for setting indexes of the power transmission line cooperative inspection benefits and calculating the weight of the indexes of the power transmission line cooperative inspection benefits;
the indicators include: a first level index, a second level index and a third level index;
the inspection mode combination unit is used for setting an inspection combination mode of an inspection line aiming at a single inspection mode of the power transmission line;
and the calculation unit is used for dividing the routing inspection line into a plurality of routing inspection paths according to the transmission tower interval, determining routing inspection benefit influence factors on the routing inspection paths, calculating routing inspection benefits of the single routing inspection mode under the three-level indexes, and determining a routing inspection combination mode when the routing inspection benefits of the routing inspection line are maximum according to the calculation result.
8. The system of claim 7, the type of terminal, comprising: artifical removal terminal of patrolling and examining, many rotor unmanned aerial vehicle patrol and examine terminal, fixed wing unmanned aerial vehicle patrol and examine terminal and on-line robot patrol and examine terminal.
9. The system of claim 7, the inspection benefit impact factors, comprising: terrain condition, weather condition, tower height, tower type, split number, loop number and inspection type.
10. The system of claim 7, wherein the primary metrics are benefits and the secondary metrics comprise: quality, security, efficiency and economic nature, tertiary index includes: the method comprises the following steps of identifying the defects above the flat opening of the tower and the defects of the ground wire, identifying the defects below the flat opening of the tower, identifying the device, the marks and the marks, identifying the buildings and the woods, identifying the infrastructure, identifying the personal safety, the equipment safety, the body safety, the inspection efficiency, the maneuvering efficiency, the inspection cost, the equipment cost and the training cost.
11. The system of claim 7, the inspection combination, comprising: 4 single inspection modes, 6 two-combination inspection modes, 4 three-combination inspection modes and 1 four-combination inspection mode;
the 4 kinds of single inspection modes include: a mobile inspection mode, a multi-rotor unmanned aerial vehicle inspection mode, a fixed-wing unmanned aerial vehicle inspection mode and an online robot inspection mode;
6 kinds of two combination mode of patrolling and examining include: the combined mode of mobile inspection and multi-rotor unmanned aerial vehicle inspection, the combined mode of mobile inspection and fixed-wing unmanned aerial vehicle inspection, the combined mode of mobile inspection and online robot inspection, the combined mode of multi-rotor unmanned aerial vehicle inspection and fixed-wing unmanned aerial vehicle inspection, the combined mode of multi-rotor unmanned aerial vehicle inspection and online robot inspection, and the combined mode of fixed-wing unmanned aerial vehicle inspection and online robot inspection;
the 4 kinds of three combination mode of patrolling and examining include: the combined mode comprises a mobile inspection mode, a multi-rotor unmanned aerial vehicle inspection mode, a fixed-wing unmanned aerial vehicle inspection mode, an online robot inspection mode, a mobile inspection mode, a fixed-wing unmanned aerial vehicle inspection mode, an online robot inspection mode, a multi-rotor unmanned aerial vehicle inspection mode, a fixed-wing unmanned aerial vehicle inspection mode and an online robot inspection mode;
the 1 kind of four make up mode of patrolling and examining includes: the combined mode of moving inspection, multi-rotor unmanned aerial vehicle inspection, fixed-wing unmanned aerial vehicle inspection and online robot inspection.
12. The system of claim 7, wherein the determining of the inspection combination when the inspection line has the maximum inspection benefit comprises:
determining a routing inspection benefit influence factor on a routing inspection path;
quantifying the effect indexes of the inspection mode according to the inspection benefit influence factors;
determining the weight of the benefit index;
according to the quantization result and the weight of the benefit index, different inspection modes are combined and calculated, and an inspection mode with the best inspection benefit is determined;
and the benefit index quantification result is a calculation result for calculating the inspection benefit of the single inspection mode under the three-level index.
13. A computer-readable storage medium, which stores a computer program for executing the method for optimizing a multi-terminal inspection mode of a power transmission line according to any one of claims 1 to 6.
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| CN116363537A (en) * | 2023-05-31 | 2023-06-30 | 广东电网有限责任公司佛山供电局 | Method and system for identifying hidden danger of hanging objects outside transformer substation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116363537A (en) * | 2023-05-31 | 2023-06-30 | 广东电网有限责任公司佛山供电局 | Method and system for identifying hidden danger of hanging objects outside transformer substation |
| CN116363537B (en) * | 2023-05-31 | 2023-10-24 | 广东电网有限责任公司佛山供电局 | Method and system for identifying hidden danger of hanging objects outside transformer substation |
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