CN115032506A - Unmanned aerial vehicle lightning stroke fault point surveying method based on power transmission line lightning positioning system - Google Patents
Unmanned aerial vehicle lightning stroke fault point surveying method based on power transmission line lightning positioning system Download PDFInfo
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- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
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Abstract
The invention relates to the technical field of lightning disaster monitoring, and particularly discloses an unmanned aerial vehicle lightning stroke fault point surveying method based on a power transmission line lightning positioning system.
Description
Technical Field
The invention belongs to the technical field of lightning disaster monitoring, and particularly relates to an unmanned aerial vehicle lightning stroke fault point surveying method based on a power transmission line lightning positioning system.
Background
The main influence of lightning on electrical equipment is electromagnetic interference, most power transmission lines and outdoor substations are exposed in the air, and power supply interruption and damage to electrical equipment and household appliances caused by lightning strike are very easy to happen. Lightning strikes have a large impact on both the primary side and the secondary side of the power system. The primary side is mainly affected by: resulting in line overvoltage, which may cause flashover of the line to ground or phase to phase, damage to transformers and switchgear, etc. In recent years, with the improvement of the automation level of the power grid, more and more weak electric devices are used in the transformer substation for data acquisition, system control, system communication and the like, and the weak electric devices generally have very low signal voltage and are sensitive to various electromagnetic interferences. When a primary loop of a transformer substation is subjected to strong electromagnetic interference or a secondary loop is subjected to electromagnetic interference, the electromagnetic interference can be introduced to an electronic element through conduction, induction, radiation and the like, and when the interference level exceeds the interference level allowed by a logic element or a logic loop of the device, the abnormal work of the logic loop is caused, so that the whole device is mistakenly operated or refused to operate; if the introduced interference level is too high, even damage to the semiconductor components may result.
When power transmission line equipment in a mountain area is damaged, and under the condition of strong wind and heavy rain accompanying lightning, rush repair personnel cannot check the specific damaged condition immediately to the site, and therefore the unmanned aerial vehicle lightning stroke fault point surveying method based on the power transmission line lightning positioning system is needed.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle lightning stroke fault point surveying method based on a power transmission line lightning locating system, so that the defect that maintenance personnel are inconvenient to overhaul equipment conditions which are not clear and are subjected to lightning disasters in severe environments such as mountain areas and the like in the prior art is overcome.
In order to achieve the purpose, the invention provides an unmanned aerial vehicle lightning stroke fault point surveying method based on a power transmission line lightning positioning system, which comprises the following steps:
after the lightning positioning system of the power transmission line receives lightning warning information, intelligently calling the unmanned aerial vehicle near the geographic position information according to the geographic position in the warning information;
the called unmanned aerial vehicle automatically receives scheduling information, automatically starts a lightning disaster differentiation investigation mode for investigation, and returns the investigation result to the remote command center;
wherein, whether unmanned aerial vehicle surveys the in-process real-time detection network signal at the reconnaissance and covers the flight range, when not surveying the network signal, then with the automatic storage of result of reconnaissance in the fuselage, when detecting the network signal, then in time or in real time with the result conveying of reconnaissance to remote command center.
Preferably, in the above technical solution, the alarm information includes coordinates of the device which is monitored to be subjected to much lightning or to have a fault.
Preferably, in the above technical solution, the survey result includes a complete picture of the power transmission line or equipment suffering much lightning, and identification of the tower, the wire or the equipment.
Preferably, in the above technical scheme, the unmanned aerial vehicle adopts a fixed wing unmanned aerial vehicle.
Preferably, in the above technical solution, the method further comprises: and the remote command center updates the monitoring image in the power transmission line lightning positioning system according to the survey result.
Preferably, in the above technical solution, the method further includes: and the remote command center displays the result of the network signal detected by the unmanned aerial vehicle in a list form.
Preferably, in the above technical solution, the lightning location system of the power transmission line includes:
the high-precision lightning online monitoring system detection substation is used for carrying out high-precision lightning online monitoring on the trunk line;
the first front-end server is used for receiving data monitored by the detection substation of the high-precision lightning online monitoring system and data of the power transmission line equipment monitoring system;
the analysis machine server is used for acquiring the lightning data and the data of the power transmission line equipment monitoring system, which are acquired by the first front-end server, performing accumulated fault analysis, statistical preprocessing of lightning information and lightning early warning, prediction and warning analysis on the acquired data, and judging whether to send out early warning information or warning information with positioning information;
the database server is used for storing the data monitored by the detection substation of the high-precision lightning online monitoring system and the data of the number of the analysis machine servers;
the Web server is used for providing service for a Web client, and the Web client displays the data sent by the high-precision thunder and lightning on-line monitoring system detection substation and the analyzer server; and
and the second front-end server is used for carrying out signal transmission with the first front-end server and providing an interface for external access.
Preferably, in the above technical solution, the high-precision lightning online monitoring system detection substation includes: a plurality of digital lightning detection stations are established in a monitoring range, the communication mode of the digital lightning detection stations adopts an APN channel and a two-trillion two-channel scheme, and the digital lightning detection stations transmit detection data to a first front-end server through a 2M or APN Internet of things wireless communication module.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the unmanned aerial vehicle lightning stroke fault point surveying method based on the power transmission line lightning positioning system, after the power transmission line lightning positioning system receives lightning alarm information, the unmanned aerial vehicle nearby the geographic position information is intelligently called according to the geographic position in the alarm information; the called unmanned aerial vehicle automatically receives scheduling information, automatically starts a lightning disaster differentiation investigation mode for investigation, and returns the investigation result to the remote command center; wherein, whether unmanned aerial vehicle surveys the in-process real-time detection network signal at the reconnaissance and covers the flight range, when not surveying the network signal, then with the automatic storage of result of reconnaissance in the fuselage, when detecting the network signal, then in time or in real time with the result conveying of reconnaissance to remote command center. When or after a lightning disaster occurs, the power transmission line lightning positioning system intelligently transfers early warning information to nearby unmanned aerial vehicles at the first time, and the unmanned aerial vehicles automatically receive the power transmission line lightning positioning system and automatically start a lightning disaster differential investigation mode to carry out investigation, so that human participation is reduced, and the disaster emergency response efficiency is greatly improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a flow chart of an unmanned aerial vehicle lightning fault point surveying method based on a power transmission line lightning location system of the present invention;
FIG. 2 is a schematic diagram of a lightning location system of a power transmission line;
FIG. 3 is a distribution schematic diagram of a detection substation of the high-precision lightning online monitoring system;
FIG. 4 is one embodiment of a power transmission line lightning location system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1, the unmanned aerial vehicle lightning stroke fault point surveying method based on the power transmission line lightning positioning system comprises the following steps:
s1, after receiving the lightning warning information, the lightning positioning system of the power transmission line intelligently calls the unmanned aerial vehicle near the geographic position information according to the geographic position in the warning information;
the early warning or alarm information comprises coordinates of equipment which is monitored to be subjected to much lightning or to have faults. The lightning strike is most frequently the place suffering the most lightning strike in the same time period, the city, county or district and other areas;
s2, the called unmanned aerial vehicle automatically receives the scheduling information, automatically starts a lightning disaster differential investigation mode for investigation, and returns the investigation result to the remote command center;
the survey result comprises the overall appearance of the power transmission line or equipment suffering much lightning, and the identification of towers, wires or equipment;
wherein, whether unmanned aerial vehicle surveys the network signal in real time at the in-process of reconnaissance and covers flight range, when not surveying the network signal, then with the automatic storage of result of reconnaissance in the fuselage, when detecting the network signal, then in time or in real time with the result conveying of reconnaissance to remote command center.
S3, the remote command center updates the monitoring image in the power transmission line lightning positioning system according to the reconnaissance result, so that real-time monitoring is realized, and the accuracy of the monitoring data is ensured; and the remote command center displays the result of the network signal detected by the unmanned aerial vehicle in a list form.
In step S1, the intelligent invocation adopts the ant colony algorithm for scheduling, which specifically includes the following steps:
s11, initializing the population, namely constructing a chromosome model scheduled by the unmanned aerial vehicle, obtaining an initial population with M airplane shift chromosomes, and setting the iteration number g of the unmanned aerial vehicle scheduling method to be 0, wherein the constraint conditions of the chromosome model comprise: unmanned aerial vehicle's performance constraint, threat constraint and type constraint, specifically, unmanned aerial vehicle's performance constraint includes: maximum flight distance constraint, pitch angle constraint and flight height constraint; threat constraints include: collision constraints, turn constraints, and communication constraints;
s12, calculating the fitness value of each unmanned aerial vehicle chromosome in the contemporary population;
s13, judging whether the iteration number G reaches the maximum iteration number G, if so, executing S14, and if not, executing S15;
s14, outputting the unmanned dispatching chromosome with the optimal fitness value;
s15, carrying out individual selection on S1 chromosome individuals in the contemporary population according to an individual selection strategy to obtain an unmanned dispatching chromosome with the optimal fitness value in an S1 chromosome;
s16, calculating the probability of crossing of the unmanned dispatching chromosomes according to a crossing probability formula, judging whether the unmanned dispatching chromosomes cross or not according to the probability of crossing, if so, carrying out chromosome crossing according to a chromosome crossing method to obtain crossed unmanned dispatching chromosomes, executing S17 according to the crossed unmanned dispatching chromosomes, and if not, executing S17 directly according to the unmanned dispatching chromosomes;
s17, calculating the mutation probability of the unmanned dispatching chromosome according to a mutation probability formula, judging whether the unmanned dispatching chromosome is mutated or not according to the mutation probability, if so, carrying out chromosome mutation according to a chromosome mutation method to obtain a mutated unmanned dispatching chromosome, and executing S18; if not, directly executing S18;
s18, adding chromosomes subjected to individual selection, chromosome crossing and chromosome variation operation into the new generation population as individuals in the new generation population;
s19, judging whether the number of individuals in the new generation population reaches M, if so, executing S110, and if not, executing S5;
and S110, replacing the current generation population with the new generation population, iterating for times g +1, and returning to S12 until a group of unmanned aerial vehicles which are most suitable for flying is obtained, so that a high-quality solution of the problem is obtained.
As shown in fig. 2, the lightning location system of the power transmission line includes: the system comprises a high-precision lightning online monitoring system detection substation, a first prepositive server, an analyzer server, a database server, a WEB server and two prepositive servers;
the high-precision lightning on-line monitoring system detection substation is used for carrying out high-precision lightning on-line monitoring on a main line, and data of the high-precision lightning on-line monitoring comprises ground flash signal characteristic data and ground flash signal waveform data;
the first front-end server is used for receiving data monitored by the high-precision lightning online monitoring system detection substation and data of the power transmission line equipment monitoring system, wherein the data of the power transmission line equipment monitoring system mainly comprises power grid equipment state data;
the analysis machine server is used for acquiring lightning data and data of the power transmission line equipment monitoring system, which are acquired by the first front-end server, performing accumulative fault analysis, statistical preprocessing of lightning information and lightning early warning, prediction and alarm analysis on the acquired data, and judging whether to send out early warning information or alarm information with positioning information and the like;
the database server is used for storing the data monitored by the detection substation of the high-precision lightning online monitoring system and the data of the number of the analysis machine servers so as to process the lightning monitoring data subsequently;
the Web server is used for providing service for a Web client, and the Web client displays and the like according to the data sent by the high-precision thunder and lightning on-line monitoring system detection substation and the analyzer server; specifically, the time, the position, the lightning current peak value and the polarity of the cloud-to-ground lightning stroke, the number of lightning stroke times, the parameter of each lightning stroke, the time-sharing color image of a lightning stroke point, the motion track of the thunderstorm, the equipment state diagnosis and the like can be clearly displayed through the WEB server;
and the second front-end server performs signal transmission with the first front-end server and provides an interface for external access.
According to the power transmission line lightning positioning system, the power transmission line lightning positioning system is a whole set of full-automatic, large-area, high-precision and real-time lightning monitoring system, and can remotely measure and display the time, position, lightning current peak value and polarity, the striking-back times, parameters of each striking-back, time-sharing color images of lightning stroke points and the like of a thunderstorm clearly.
With continued reference to fig. 2, the analyzer server includes: the system comprises a lightning stroke pre-occurrence data analysis module, a lightning stroke post-occurrence data analysis module and a historical data analysis module;
the lightning stroke pre-occurrence data analysis module is used for acquiring real-time monitoring lightning stroke data, judging whether to perform power grid lightning activity approach alarm or not according to the real-time monitoring lightning stroke data and predicting lightning motion;
the data analysis module is used for accessing an EMS (energy management system) adjusting signal when lightning stroke occurs, carrying out fault diagnosis on received lightning stroke data according to lightning stroke fault characteristics and sending alarm information, wherein the alarm information comprises: the method comprises the steps of (1) damaging the equipment suffering from lightning stroke and positioning information, wherein the positioning information is a section of power transmission line, such as a section positioned to a #30 to a #49 pole; the lightning fault is characterized by insulator string breakage and insulator flashover generally on a transmission tower, wherein the insulator flashover phenomenon comprises composite insulator flashover and glass insulator flashover, and the flashover characteristics are different;
the data analysis module after lightning strike is used for tracking lightning stroke adjustment accidents, inverting and reproducing the lightning stroke adjustment accidents and analyzing failure of lightning protection measures, namely risk assessment;
the historical data analysis module is used for carrying out statistical analysis on the lightning stroke data, running state analysis on system equipment and transmission characteristic analysis on a lightning radiation electric field.
The high-precision lightning on-line monitoring system detection substation comprises: a plurality of digital lightning detection stations are established in a monitoring range, the communication mode of the digital lightning detection stations adopts an APN channel and a two-trillion two-channel scheme, and the digital lightning detection stations transmit detection data to a first front-end server through a 2M or APN Internet of things wireless communication module.
Specifically, as shown in fig. 3, 18 digital lightning detection stations are established in the Guangxi province, and through the 18 digital lightning detection stations, effective lightning monitoring is performed on most of the existing backbone power grids in the Guangxi province, so that technical support is provided for the Guangxi power grid operation departments in the aspects of rapid lightning stroke fault point positioning, lightning stroke accident identification, short-term lightning early warning and the like. Meanwhile, basic data are provided for drawing distribution maps of the Guangxi power grid thunder area and the differentiated lightning protection design of the power transmission line. The warning information sent by the lightning location system of the transmission line is shown in fig. 4.
In step S2, the lightning disaster differentiation prospecting mode includes:
s21, after receiving the scheduling information, the unmanned aerial vehicle determines the flight target position of the unmanned aerial vehicle according to the warning information sent by the lightning positioning system of the power transmission line;
specifically, the target position that unmanned aerial vehicle flies is the initial position of the locating information in the warning information that transmission line thunder and lightning positioning system sent, wherein, locating information is a section transmission tower, and initial position is the specific geographical position of this section transmission tower's the beginning or terminal tower promptly, and the selection of this section transmission tower's the beginning or terminal tower's the specific geographical position includes: selecting a starting or end point tower closest to the takeoff position of the unmanned aerial vehicle;
s22, calculating by adopting a genetic algorithm according to the flight target position determined in the step S21 to obtain the optimal airline flight;
s23, the unmanned aerial vehicle automatically receives the weather condition in the flight route, and judges whether the unmanned aerial vehicle can fly according to the optimal route obtained in the step S22, if the unmanned aerial vehicle can fly according to the optimal route, the unmanned aerial vehicle starts self-checking, the unmanned aerial vehicle flies according to the received route after the self-checking is correct, if the self-checking does not pass, the last step is returned, and the unmanned aerial vehicle is removed and then the unmanned aerial vehicle is reselected; if the aircraft can not fly according to the optimal flight path, modifying the flight path according to the weather condition in the flight path, and flying after the aircraft algorithm or manual judgment is correct;
s24, after the unmanned aerial vehicle flies to the flying target position, the unmanned aerial vehicle calls a basic routing inspection route according to the positioning information in the warning information, namely the power transmission pole tower section, and performs routing inspection along the pole section until the whole power transmission pole tower section is inspected, identifies the condition of the power transmission line in the inspection result, whether an insulator or a pole tower is damaged or not, and returns the inspection result to the remote command center;
and S25, after the survey is finished, the unmanned aerial vehicle navigates back.
The lightning positioning system of the power transmission line finds the positioning information of the fault according to the lightning stroke fault characteristics, and the unmanned aerial vehicle conducts lightning disaster differentiation investigation mode inspection according to the fault positioning information, so that the disaster emergency response efficiency can be greatly improved.
The unmanned aerial vehicle adopts a fixed wing unmanned aerial vehicle. Specifically, the fixed wing unmanned aerial vehicle adopts CW-25 vertical take-off and landing fixed wing unmanned aerial vehicle, and the unmanned aerial vehicle of the type can execute a large-area task range and has the characteristics of long endurance, high speed, large load, stable structure, high reliability and the like.
The foregoing description of the specific exemplary embodiments of the invention has been presented for the purposes of illustration and description and is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching, although examples of the invention are shown and described, the present examples are intended to be illustrative of the invention and are not to be considered limiting, and the particular features, structures, materials, or characteristics described may be suitably combined in any one or more of the examples or examples, selected from and described to explain certain principles of the invention and its practical application, to thereby enable others skilled in the art to modify, if necessary, the examples without materially departing from the principles and spirit of the invention, Alternatives, modifications, and variations are possible but are within the scope of the appended claims.
Claims (8)
1. An unmanned aerial vehicle lightning stroke fault point surveying method based on a power transmission line lightning positioning system is characterized by comprising the following steps:
after the lightning positioning system of the power transmission line receives lightning warning information, intelligently calling the unmanned aerial vehicle near the geographic position information according to the geographic position in the warning information;
the called unmanned aerial vehicle automatically receives the scheduling information, automatically starts a lightning disaster differential investigation mode for investigation, and returns the investigation result to the remote command center;
wherein, whether unmanned aerial vehicle surveys the in-process real-time detection network signal at the reconnaissance and covers the flight range, when not surveying the network signal, then with the automatic storage of result of reconnaissance in the fuselage, when detecting the network signal, then in time or in real time with the result conveying of reconnaissance to remote command center.
2. The unmanned aerial vehicle lightning strike fault point surveying method based on the power transmission line lightning location system of claim 1, wherein the warning information includes monitoring coordinates of equipment that is subject to much lightning or has a fault.
3. The unmanned aerial vehicle lightning strike fault point survey method based on the power transmission line lightning location system of claim 1, wherein the result of the survey includes an overview of power transmission lines or equipment that are subjected to much lightning and identification of towers, wires or equipment.
4. The unmanned aerial vehicle lightning fault point surveying method based on the power transmission line lightning location system of claim 1, wherein the unmanned aerial vehicle is a fixed wing unmanned aerial vehicle.
5. The unmanned aerial vehicle lightning fault point surveying method based on the power transmission line lightning location system of claim 1, further comprising: and the remote command center updates the monitoring image in the power transmission line lightning positioning system according to the survey result.
6. The unmanned aerial vehicle lightning fault point surveying method based on the power transmission line lightning location system of claim 1, further comprising: and the remote command center displays the result of the network signal detected by the unmanned aerial vehicle in a list form.
7. The unmanned aerial vehicle lightning fault point surveying method based on the power transmission line lightning locating system is characterized by comprising the following steps of:
the high-precision lightning online monitoring system detection substation is used for carrying out high-precision lightning online monitoring on the main line;
the first front-end server is used for receiving data monitored by the detection substation of the high-precision lightning online monitoring system and data of the power transmission line equipment monitoring system;
the analysis machine server is used for acquiring the lightning data and the data of the power transmission line equipment monitoring system, which are acquired by the first front-end server, performing accumulated fault analysis, statistical preprocessing of lightning information and lightning early warning, prediction and warning analysis on the acquired data, and judging whether to send out early warning information or warning information with positioning information;
the database server is used for storing the data monitored by the detection substation of the high-precision lightning online monitoring system and the data of the number of the analysis machine servers;
the Web server is used for providing service for a Web client, and the Web client displays the data sent by the high-precision thunder and lightning on-line monitoring system detection substation and the analyzer server; and
and the second front-end server is used for carrying out signal transmission with the first front-end server and providing an interface for external access.
8. The unmanned aerial vehicle lightning fault point surveying method based on the power transmission line lightning positioning system of claim 7, wherein the high-precision lightning online monitoring system detection substation comprises: a plurality of digital lightning detection stations are established in a monitoring range, the communication mode of the digital lightning detection stations adopts an APN channel and a two-trillion two-channel scheme, and the digital lightning detection stations transmit detection data to a first front-end server through a 2M or APN Internet of things wireless communication module.
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