CN115065169B - Electric power monitored control system based on 5G and internet of things - Google Patents
Electric power monitored control system based on 5G and internet of things Download PDFInfo
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- CN115065169B CN115065169B CN202210847013.7A CN202210847013A CN115065169B CN 115065169 B CN115065169 B CN 115065169B CN 202210847013 A CN202210847013 A CN 202210847013A CN 115065169 B CN115065169 B CN 115065169B
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- 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
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- 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
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- Remote Monitoring And Control Of Power-Distribution Networks (AREA)
Abstract
The invention discloses a power monitoring system based on a 5G and Internet of things technology, which acquires the meteorological conditions of a target power transmission line passing through each transmission area in real time, screens out important monitoring areas according to the meteorological conditions, monitors the icing thickness and the icing position distance of the power transmission line in the important monitoring areas when an unmanned plane sails to the important monitoring areas, and simultaneously identifies the diameter and the material of the power transmission line, so that whether the power transmission line in the important monitoring areas needs to be deicing is comprehensively judged by combining the attribute information and the icing conditions of the power transmission line, the judging basis of deicing requirements is enriched, the accuracy of deicing requirement judgment is improved, the pertinence of deicing operation is improved to a certain extent, and deicing according to requirements is truly realized, so that on one hand, the waste of deicing resources is avoided, on the other hand, the deicing timeliness of the power transmission line needing to be deicing is improved, and the adequacy of the power transmission line needing deicing in time and resources is guaranteed.
Description
Technical Field
The invention relates to the technical field of power monitoring, in particular to a power monitoring system based on 5G and the Internet of things technology.
Background
The stable development of electric power can ensure the stable development of society, and a transmission line is a very important component part in an electric power system and plays a very important role in electric power supply. In order to ensure the power supply reliability of the power transmission line, the power transmission line is subjected to inspection and monitoring to form the work which is necessary to do.
With the development of the national power grid, the traditional manual inspection mode can not realize the inspection work of the high-voltage and extra-high-voltage power transmission line. The unmanned aerial vehicle has small, remote operation, real-time supervision and information recording to carry equipment such as sensing equipment, digital camera, carry out all-round inspection to transmission line, greatly improved transmission line's inspection efficiency, still reduced the working strength and the danger of inspection personnel.
The current inspection work performed on the power transmission line by the unmanned aerial vehicle mainly comprises fault inspection and severe weather icing inspection, wherein the severe weather icing inspection is a common inspection mode for winter inspection, because when the power transmission line runs in ice and snow weather, the power transmission line is easy to be covered with ice, the mechanical loads of the power transmission line and a pole tower are aggravated, the sag of the power transmission line is excessively increased, and therefore line mixing accidents are caused, and under the condition, deicing treatment is needed to be performed by the unmanned aerial vehicle according to the icing condition of the power transmission line.
However, when the current unmanned aerial vehicle judges whether the transmission line needs deicing, the current unmanned aerial vehicle only simply judges according to the icing thickness of the transmission line, the judging basis is too single, the influence of the icing position, the material and the diameter of the transmission line on the deicing requirement is ignored, the deicing requirement judging accuracy is low, the phenomenon that a great deal of effort is spent on deicing on some transmission lines with smaller deicing requirements is easy to occur, further, on one hand, the deicing resource is wasted, and on the other hand, the deicing progress of other transmission lines needing deicing is delayed.
Disclosure of Invention
In order to solve the technical problems, the invention is realized by the following technical scheme:
an electric power monitoring system based on 5G and internet of things technology, comprising:
the target power transmission line conveying area acquisition module is used for marking a power transmission line to be subjected to power monitoring as a target power transmission line, counting the number of conveying areas through which the target power transmission line passes, and marking each conveying area as 1,2 respectively;
the conveying area geographic position positioning module is used for positioning geographic positions corresponding to all conveying areas;
the system comprises a conveying area icing early-warning grade acquisition module, a control module and a control module, wherein the conveying area icing early-warning grade acquisition module is used for acquiring the icing early-warning grade corresponding to each current conveying area from an weather table according to the geographic position corresponding to each conveying area;
the key monitoring area screening module is used for screening key monitoring areas based on icing early warning grades corresponding to the current conveying areas;
the unmanned aerial vehicle cruising sequence setting module is used for setting the cruising sequence of the unmanned aerial vehicle on the key monitoring area;
the first-choice monitoring area power line segment cruising monitoring module is used for extracting the first-order important monitoring area from the cruising sequence of the unmanned aerial vehicle to the important monitoring area, recording the first-order important monitoring area as the first-choice monitoring area, further navigating to the first-choice monitoring area by the unmanned aerial vehicle according to the geographic position of the first-choice monitoring area, and cruising and monitoring the power line segment in the first-choice monitoring area through a three-dimensional high-definition camera carried on the unmanned aerial vehicle to obtain icing parameters and basic parameters of the power line segment in the first-choice monitoring area;
the reference database is used for storing reference icing risk attributes, icing risk coefficients which can be born by unit diameters corresponding to various transmission line materials, and icing critical coefficients corresponding to various icing early warning grades;
the deicing judgment processing module is used for judging whether the power line section in the first-choice monitoring area needs deicing according to the icing parameters and the basic parameters of the power line section in the first-choice monitoring area, and if so, deicing is carried out on the power line section in the first-choice monitoring area by deicing equipment carried on the unmanned aerial vehicle;
and the deicing completion processing module of the first-choice monitoring area is used for selecting the next key monitoring area nearby to carry out cruising monitoring after deicing of the power line segment in the first-choice monitoring area is completed until all the key monitoring areas cruise.
In one implementation manner, the specific screening manner for screening out the key monitoring area based on the icing early warning level corresponding to each current conveying area is as follows: comparing the icing early-warning level corresponding to each current conveying area with a preset warning icing early-warning level which needs to be cruised, and if the icing early-warning level corresponding to a certain current conveying area is greater than or equal to the preset warning icing early-warning level which needs to be cruised, marking the conveying area as a key monitoring area.
In one implementation manner, the specific setting manner corresponding to the cruising sequence of the unmanned aerial vehicle on the key monitoring areas is that the key monitoring areas are ordered according to the sequence from high to low of the icing early warning level, so that an ordering result of the key monitoring areas is obtained, and then the ordering result is used as the cruising sequence of the unmanned aerial vehicle on the key monitoring areas.
In one implementation manner, the icing parameters include the number of icing segments, the icing thickness corresponding to each icing segment, and the icing position distance.
In one implementation, the ice coating position distance refers to a distance between a center point of the ice coating segment and a center point of the power line segment.
In one implementation, the basic parameters include transmission line diameter and transmission line material.
In one implementation manner, the judging process for judging whether the power line segment of the preferred monitoring area needs deicing according to the icing parameter and the basic parameter of the power line segment of the preferred monitoring area is as follows:
s1, sequentially numbering each ice-covering segment corresponding to the power line segment of the preferred monitoring area as 1,2 according to a preset sequence;
s2, forming an icing risk attribute set Q of the icing sections by using the icing thickness and the icing position distance of the power line section of the preferred monitoring area corresponding to each icing section w ＝{q w 1,q w 2,...,q w k,...,q w z}，q w k is an icing risk attribute of a kth icing section in the power line section of the preferred monitoring area, w is an icing risk attribute, w=u1 or u2, wherein u1 and u2 are respectively represented as icing thickness and icing position distance;
s3, extracting reference icing risk attributes from a reference database, comparing the icing risk attribute set of the icing segments with the reference icing risk attributes, and calculating icing risk coefficients corresponding to the icing segments, wherein the calculation formula is as follows
η k Denoted as the icing risk factor corresponding to the kth icing segment, q u1 k、q u2 k is respectively expressed as the thickness of the ice coating and the distance between the ice coating positions corresponding to the kth ice coating section, q u1 reference 、q u2 reference Respectively representing the reference ice coating thickness and the reference ice coating position distance, and respectively representing a preset ice coating thickness and a preset duty factor corresponding to the ice coating position distance; />
S4, comparing the icing risk coefficients corresponding to the icing sections with each other, and screening out the largest icing risk coefficient;
s5, extracting the material of the power transmission line from the basic parameters, matching the material of the power transmission line with icing risk coefficients which can be born by the unit diameters corresponding to the material of various power transmission lines stored in a reference database, and screening the icing risk coefficients which can be born by the unit diameters corresponding to the material of the power transmission line;
s6, extracting the diameter of the power transmission line from the basic parameters, and multiplying the icing risk coefficients which can be born by the power transmission line material corresponding to the unit diameter to obtain the icing risk coefficients which can be born by the power transmission line segment of the preferred monitoring area;
s7: comparing the maximum icing risk coefficient on the power line segment of the preferred monitoring area with the icing risk coefficient which can be born by the power line segment of the preferred monitoring area, and judging that the power line segment of the preferred monitoring area needs deicing if the maximum icing risk coefficient on the power line segment of the preferred monitoring area is larger than the icing risk coefficient which can be born by the power line segment of the preferred monitoring area.
In one implementation manner, the specific processing procedure corresponding to the deicing process performed by the deicing device carried on the unmanned aerial vehicle on the power line segment of the preferred monitoring area is as follows:
(1) Sequencing all ice coating segments existing on the power line segments in the preferred monitoring area according to the sequence from big to small of the ice coating risk coefficient, and taking the sequencing result as the deicing sequence of the power line segments in the preferred monitoring area;
(2) And carrying out deicing treatment on the power line segments of the preferred monitoring area sequentially according to the deicing sequence by utilizing deicing equipment carried on the unmanned aerial vehicle.
In one implementation manner, the selecting method for selecting the next key monitoring area nearby to perform cruise monitoring includes the following steps:
step 1: sequentially extracting key monitoring areas arranged at the back from the cruising sequence of the unmanned aerial vehicle, and marking the key monitoring areas as candidate monitoring areas, so as to obtain the geographic positions of the candidate monitoring areas;
step 2: comparing the geographic position of each candidate monitoring area with the geographic position of the preferred monitoring area, thereby obtaining the route distance between each candidate monitoring area and the preferred monitoring area;
step 3: matching the icing pre-warning level corresponding to each candidate monitoring area with icing critical coefficients corresponding to various icing pre-warning levels stored in a reference database, and matching the icing critical coefficients corresponding to each candidate monitoring area;
step 4: estimating the cruise demand index corresponding to each candidate monitoring area based on the icing critical coefficient corresponding to each candidate monitoring area and the route distance between each candidate monitoring area and the preferred monitoring area, wherein the estimation formula is as follows
The cruise demand index corresponding to the j candidate monitoring area is represented as j, j is represented as the number of the candidate monitoring area, j epsilon (1, n), l j 、δ j Respectively expressed as a route distance between the jth candidate monitoring area and the preferred monitoring area and an icing critical coefficient, l 0 Expressed as a reference route distance, e expressed as a natural constant, A, B respectively expressed as a set route distance, a weight coefficient corresponding to the icing crisis coefficient, and a+b=1;
step 5: and screening out the candidate monitoring area with the maximum cruise demand index from the cruise demand indexes corresponding to the candidate monitoring areas as the next key monitoring area.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the meteorological conditions of the target power transmission line passing through each transmission area are obtained in real time, the key monitoring areas are screened out according to the meteorological conditions, and then the icing thickness and the icing position distance of the power transmission line section in the key monitoring areas are monitored when the unmanned aerial vehicle sails to the key monitoring areas, and meanwhile, the diameters and the materials of the power transmission line section are identified, so that whether the power transmission line section in the key monitoring areas needs to be deicing is comprehensively judged by combining the attribute information and the icing conditions of the power transmission line section, the judging basis of the deicing requirement is enriched, the defect that the judging basis of the deicing requirement is too single in the prior art is effectively overcome, the accuracy of the deicing requirement judgment is improved, the pertinence of deicing operation is improved to a certain extent, and the on-demand deicing is truly realized, so that on one hand, the waste of deicing resources is avoided, on the other hand, the timely deicing of the power transmission line needing deicing is improved, and the adequacy of the power transmission line needing deicing in time and resources is guaranteed.
2. When the key monitoring areas are screened out, the cruising sequence of the unmanned aerial vehicle on the key monitoring areas is set according to the icing early-warning level of the key monitoring areas when the key monitoring areas are more, so that the key monitoring areas with higher icing early-warning level can be subjected to priority inspection, the practicability is high, and the inspection efficiency of the key monitoring areas is improved to the greatest extent.
3. According to the invention, after the first-choice monitoring area is selected from the cruising sequence to carry out ice coating cruising monitoring, the key monitoring area arranged next is not directly extracted from the cruising sequence to serve as a next monitoring target, but the cruising requirement index of each candidate monitoring area is estimated based on the geographic position of the first-choice monitoring area and the icing early warning grade of each candidate monitoring area arranged behind the first-choice monitoring area in the cruising sequence, so that the candidate monitoring area with the largest cruising requirement index is screened out to serve as the next monitoring target.
Drawings
The invention will be further described with reference to the accompanying drawings, in which embodiments do not constitute any limitation of the invention, and other drawings can be obtained by one of ordinary skill in the art without inventive effort from the following drawings.
FIG. 1 is a schematic diagram of a system connection according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an electric power monitoring system based on the 5G and internet of things technology includes a target power transmission line conveying area acquisition module, a conveying area geographic position positioning module, a conveying area icing early warning level acquisition module, a key monitoring area screening module, an unmanned aerial vehicle cruising sequence setting module, a first-choice monitoring area power transmission line section cruising monitoring module, a reference database, a first-choice monitoring area power transmission line section deicing judging processing module and a first-choice monitoring area deicing finishing processing module.
Above-mentioned well target power transmission line transport region obtains the module and is connected with transport region geographical position location module, transport region geographical position location module and transport region ice early warning grade obtain the module and be connected, transport region ice early warning grade obtain the module and be connected with important monitoring region screening module, important monitoring region screening module and unmanned aerial vehicle cruises the order setting module and be connected with preferred monitoring region transmission line section and cruise monitoring module, preferred monitoring region transmission line section cruises monitoring module and is connected with preferred monitoring region transmission line section deicing judgement processing module, transport region geographical position location module, unmanned aerial vehicle cruises the order setting module and transport region ice early warning grade obtain the module and be connected with preferred monitoring region deicing and finish processing module, reference database is connected with preferred monitoring region transmission line section deicing judgement processing module and preferred monitoring region deicing finish processing module respectively.
The target power transmission line conveying area acquisition module is used for marking a power transmission line to be subjected to power monitoring as a target power transmission line, counting the number of conveying areas through which the target power transmission line passes, and marking each conveying area as 1, 2.
The conveying area geographic position positioning module is used for positioning geographic positions corresponding to all conveying areas.
The conveying area icing early-warning level acquisition module is used for acquiring the icing early-warning level corresponding to each current conveying area from the weather table according to the geographic position corresponding to each conveying area.
The key monitoring area screening module is used for screening key monitoring areas based on icing early warning grades corresponding to the current conveying areas, and the specific screening process is as follows:
comparing the icing early-warning level corresponding to each current conveying area with a preset warning icing early-warning level which needs to be cruised, and if the icing early-warning level corresponding to a certain current conveying area is greater than or equal to the preset warning icing early-warning level which needs to be cruised, marking the conveying area as a key monitoring area.
The unmanned aerial vehicle cruising sequence setting module is used for setting the cruising sequence of the unmanned aerial vehicle on the key monitoring areas, and the specific setting mode is that the key monitoring areas are ordered according to the sequence from high to low of the icing early warning level, the ordering result of the key monitoring areas is obtained, and then the ordering result is used as the cruising sequence of the unmanned aerial vehicle on the key monitoring areas.
When the key monitoring areas are screened out, the cruising sequence of the unmanned aerial vehicle on the key monitoring areas is set according to the icing early-warning level of the key monitoring areas when the key monitoring areas are more, so that the key monitoring areas with higher icing early-warning level can be subjected to priority inspection, the practicability is high, and the inspection efficiency of the key monitoring areas is improved to the greatest extent.
The first-choice monitoring area power line section cruises the monitoring module and is used for extracting the key monitoring area arranged at the first position from the cruising sequence of the unmanned aerial vehicle to the key monitoring area, recording the key monitoring area as the first-choice monitoring area, and then navigating to the first-choice monitoring area by the unmanned aerial vehicle according to the geographic position of the first-choice monitoring area, cruising and monitoring the power line section in the first-choice monitoring area through a three-dimensional high-definition camera carried on the unmanned aerial vehicle to obtain icing parameters and basic parameters of the power line section in the first-choice monitoring area, wherein the icing parameters comprise the number of the icing sections, the icing thickness and the icing position distance corresponding to each icing section, and the basic parameters comprise the diameter of the power line and the material of the power line.
It should be noted that, the above mentioned ice-coating position distance refers to a distance between a center point of an ice-coating segment and a center point of a power line segment, where a shorter ice-coating position distance corresponding to an ice-coating segment indicates that the ice-coating segment is located closer to the center point of the power line segment.
The reference database is used for storing reference icing risk attributes, wherein the reference icing risk attributes comprise reference icing thickness and reference icing position distance, icing risk coefficients which can be born by corresponding unit diameters of various transmission line materials are stored, and icing critical coefficients corresponding to various icing early warning grades are stored.
The deicing judging and processing module of the power line section in the preferred monitoring area is used for judging whether the power line section in the preferred monitoring area needs deicing according to the icing parameters and the basic parameters of the power line section in the preferred monitoring area, and the judging process is as follows:
s1, sequentially numbering each ice-covering segment corresponding to the power line segment of the preferred monitoring area as 1,2 according to a preset sequence;
s2, forming an icing risk attribute set Q of the icing sections by using the icing thickness and the icing position distance of the power line section of the preferred monitoring area corresponding to each icing section w ＝{q w 1,q w 2,...,q w k,...,q w z}，q w k is an icing risk attribute of a kth icing section in the power line section of the preferred monitoring area, w is an icing risk attribute, w=u1 or u2, wherein u1 and u2 are respectively represented as icing thickness and icing position distance;
s3, extracting reference icing risk attributes from a reference database, comparing the icing risk attribute set of the icing segments with the reference icing risk attributes, and calculating icing risk coefficients corresponding to the icing segments, wherein the calculation formula is as follows
η k Denoted as the icing risk factor corresponding to the kth icing segment, q u1 k、q u2 k is respectively expressed as the thickness of the ice coating and the distance between the ice coating positions corresponding to the kth ice coating section, q u1 reference 、q u2 reference Respectively representing the reference ice coating thickness and the reference ice coating position distance, and respectively representing a preset ice coating thickness and a preset duty factor corresponding to the ice coating position distance;
as a preferable technical scheme of the invention, the influence of the ice coating thickness on the ice coating risk coefficient in the ice coating risk coefficient calculation formula is positive, and the influence of the ice coating position distance on the ice coating risk coefficient is negative;
s4, comparing the icing risk coefficients corresponding to the icing sections with each other, and screening out the largest icing risk coefficient;
s5, extracting the material of the power transmission line from the basic parameters, matching the material of the power transmission line with icing risk coefficients which can be born by the unit diameters corresponding to the material of various power transmission lines stored in a reference database, and screening the icing risk coefficients which can be born by the unit diameters corresponding to the material of the power transmission line;
s6, extracting the diameter of the power transmission line from the basic parameters, and multiplying the icing risk coefficients which can be born by the power transmission line material corresponding to the unit diameter to obtain the icing risk coefficients which can be born by the power transmission line segment of the preferred monitoring area;
s7: comparing the maximum icing risk coefficient on the power line segment of the preferred monitoring area with the icing risk coefficient which can be born by the power line segment of the preferred monitoring area, and judging that the power line segment of the preferred monitoring area needs deicing if the maximum icing risk coefficient on the power line segment of the preferred monitoring area is larger than the icing risk coefficient which can be born by the power line segment of the preferred monitoring area.
According to the embodiment of the invention, the meteorological conditions of the target power transmission line passing through each transmission area are obtained in real time, the key monitoring areas are screened out according to the meteorological conditions, and then the icing thickness and the icing position distance of the power transmission line section in the key monitoring areas are monitored when the unmanned aerial vehicle sails to the key monitoring areas, and meanwhile, the diameters and the materials of the power transmission line section are identified, so that whether the power transmission line section in the key monitoring areas needs to be deicing is comprehensively judged by combining the attribute information and the icing condition of the power transmission line section, the judging basis of the deicing requirement is enriched, the defect that the judging basis of the deicing requirement is too single in the prior art is effectively overcome, the accuracy of the deicing requirement judgment is improved, the pertinence of deicing operation is improved to a certain extent, and deicing according to requirements is truly realized, so that on one hand, the waste of deicing resources is avoided, on the other hand, the deicing timeliness of the power transmission line needing deicing is improved, and the adequacy of the power transmission line needing deicing in time and resources is guaranteed.
If the deicing is judged to be needed, deicing treatment is carried out on the power line section in the preferred monitoring area by deicing equipment carried on the unmanned aerial vehicle, and the specific treatment process is as follows:
(1) Sequencing all ice coating segments existing on the power line segments in the preferred monitoring area according to the sequence from big to small of the ice coating risk coefficient, and taking the sequencing result as the deicing sequence of the power line segments in the preferred monitoring area;
(2) And carrying out deicing treatment on the power line segments of the preferred monitoring area sequentially according to the deicing sequence by utilizing deicing equipment carried on the unmanned aerial vehicle.
In a specific embodiment, the ice is removed according to the sequence from the large to the small of the icing risk coefficient, so that the ice-covered sections with the largest icing risk coefficient can be preferentially removed, the ice-removing requirements can be met, and in the ice-covered sections with the largest icing risk coefficient, some ice-covered sections with smaller icing thickness can automatically fall off along with the treatment process, and therefore the attached ice is removed, the ice-removing efficiency can be improved, the ice-removing resources can be saved, and the ice-removing level can be greatly improved.
And the deicing completion processing module of the preferred monitoring area is used for selecting the next key monitoring area nearby to carry out cruising monitoring after deicing of the power line segment in the preferred monitoring area is completed until all the key monitoring areas cruise.
The selection method for selecting the next key monitoring area nearby to carry out cruise monitoring comprises the following steps:
step 1: sequentially extracting key monitoring areas arranged at the back from the cruising sequence of the unmanned aerial vehicle, and marking the key monitoring areas as candidate monitoring areas, so as to obtain the geographic positions of the candidate monitoring areas;
step 2: comparing the geographic position of each candidate monitoring area with the geographic position of the preferred monitoring area, thereby obtaining the route distance between each candidate monitoring area and the preferred monitoring area;
step 3: matching the icing pre-warning level corresponding to each candidate monitoring area with icing critical coefficients corresponding to various icing pre-warning levels stored in a reference database, and matching the icing critical coefficients corresponding to each candidate monitoring area;
step 4: estimating the cruise demand index corresponding to each candidate monitoring area based on the icing critical coefficient corresponding to each candidate monitoring area and the route distance between each candidate monitoring area and the preferred monitoring area, wherein the estimation formula is as follows
The cruise demand index corresponding to the j candidate monitoring area is represented as j, j is represented as the number of the candidate monitoring area, j epsilon (1, n), l j 、δ j Respectively expressed as a route distance between the jth candidate monitoring area and the preferred monitoring area and an icing critical coefficient, l 0 Expressed as a reference route distance, e expressed as a natural constant, A, B respectively expressed as a set route distance, a weight coefficient corresponding to the icing crisis coefficient, and a+b=1;
it should be noted that, in the above formula for evaluating the cruise demand index, the greater the icing critical coefficient of a certain candidate monitoring area, and the shorter the route distance between the candidate monitoring area and the preferred monitoring area, the greater the cruise demand index corresponding to the candidate monitoring area, which indicates that the higher the cruise demand degree corresponding to the candidate monitoring area;
step 5: and screening out the candidate monitoring area with the maximum cruise demand index from the cruise demand indexes corresponding to the candidate monitoring areas as the next key monitoring area.
According to the method, after the first-choice monitoring area is selected from the cruising sequence to carry out ice coating cruising monitoring, the key monitoring area arranged next is not directly extracted from the cruising sequence to serve as a next monitoring target, the cruising requirement index of each candidate monitoring area is estimated based on the geographic position of the first-choice monitoring area and the icing early warning grade of each candidate monitoring area arranged behind the first-choice monitoring area in the cruising sequence, and then the candidate monitoring area with the largest cruising requirement index is screened out to serve as the next monitoring target.
The foregoing is merely illustrative of the structures of this invention and various modifications, additions and substitutions for those skilled in the art can be made to the described embodiments without departing from the scope of the invention or from the scope of the invention as defined in the accompanying claims.
Claims (9)
1. Electric power monitored control system based on 5G and thing networking technique, characterized by includes:
the target power transmission line conveying area acquisition module is used for marking a power transmission line to be subjected to power monitoring as a target power transmission line, counting the number of conveying areas through which the target power transmission line passes, and marking each conveying area as 1,2 respectively;
the conveying area geographic position positioning module is used for positioning geographic positions corresponding to all conveying areas;
the system comprises a conveying area icing early-warning grade acquisition module, a control module and a control module, wherein the conveying area icing early-warning grade acquisition module is used for acquiring the icing early-warning grade corresponding to each current conveying area from an weather table according to the geographic position corresponding to each conveying area;
the key monitoring area screening module is used for screening key monitoring areas based on icing early warning grades corresponding to the current conveying areas;
the unmanned aerial vehicle cruising sequence setting module is used for setting the cruising sequence of the unmanned aerial vehicle on the key monitoring area;
the first-choice monitoring area power line segment cruising monitoring module is used for extracting the first-order important monitoring area from the cruising sequence of the unmanned aerial vehicle to the important monitoring area, recording the first-order important monitoring area as the first-choice monitoring area, further navigating to the first-choice monitoring area by the unmanned aerial vehicle according to the geographic position of the first-choice monitoring area, and cruising and monitoring the power line segment in the first-choice monitoring area through a three-dimensional high-definition camera carried on the unmanned aerial vehicle to obtain icing parameters and basic parameters of the power line segment in the first-choice monitoring area;
the reference database is used for storing reference icing risk attributes, icing risk coefficients which can be born by unit diameters corresponding to various transmission line materials, and icing critical coefficients corresponding to various icing early warning grades;
the deicing judgment processing module is used for judging whether the power line section in the first-choice monitoring area needs deicing according to the icing parameters and the basic parameters of the power line section in the first-choice monitoring area, and if so, deicing is carried out on the power line section in the first-choice monitoring area by deicing equipment carried on the unmanned aerial vehicle;
and the deicing completion processing module of the first-choice monitoring area is used for selecting the next key monitoring area nearby to carry out cruising monitoring after deicing of the power line segment in the first-choice monitoring area is completed until all the key monitoring areas cruise.
2. The power monitoring system based on the 5G and internet of things technology according to claim 1, wherein: the specific screening mode for screening the key monitoring areas based on the icing early warning grades corresponding to the current conveying areas is as follows: comparing the icing early-warning level corresponding to each current conveying area with a preset warning icing early-warning level which needs to be cruised, and if the icing early-warning level corresponding to a certain current conveying area is greater than or equal to the preset warning icing early-warning level which needs to be cruised, marking the conveying area as a key monitoring area.
3. The power monitoring system based on the 5G and internet of things technology according to claim 1, wherein: the specific setting mode of the unmanned aerial vehicle corresponding to the cruising sequence of the key monitoring areas is that the key monitoring areas are ordered according to the sequence from high to low of the icing early warning level, the ordering result of the key monitoring areas is obtained, and the ordering result is used as the cruising sequence of the unmanned aerial vehicle to the key monitoring areas.
4. The power monitoring system based on the 5G and internet of things technology according to claim 1, wherein: the icing parameters comprise the number of icing sections, the icing thickness corresponding to each icing section and the icing position distance.
5. The power monitoring system based on the 5G and internet of things technology of claim 4, wherein: the ice coating position distance refers to the distance between the center point of the ice coating section and the center point of the power line section.
6. The power monitoring system based on the 5G and internet of things technology of claim 5, wherein: the basic parameters include the diameter of the transmission line and the material of the transmission line.
7. The power monitoring system based on the 5G and internet of things technology of claim 6, wherein: the corresponding judging process for judging whether the power line section of the preferred monitoring area needs deicing according to the icing parameters and the basic parameters of the power line section of the preferred monitoring area is as follows:
s1, sequentially numbering each ice-covering segment corresponding to the power line segment of the preferred monitoring area as 1,2 according to a preset sequence;
s2, forming an icing risk attribute set Q of the icing sections by using the icing thickness and the icing position distance of the power line section of the preferred monitoring area corresponding to each icing section w ＝{q w 1,q w 2,...,q w k,...,q w z}，q w k is an icing risk attribute of a kth icing section in the power line section of the preferred monitoring area, w is an icing risk attribute, w=u1 or u2, wherein u1 and u2 are respectively represented as icing thickness and icing position distance;
s3, extracting reference icing risk attributes from a reference database, comparing the icing risk attribute set of the icing segments with the reference icing risk attributes, and calculating icing risk coefficients corresponding to the icing segments, wherein the calculation formula is as follows
η k Denoted as the icing risk factor corresponding to the kth icing segment, q u1 k、q u2 k is respectively expressed as the thickness of the ice coating and the distance between the ice coating positions corresponding to the kth ice coating section, q u1 reference 、q u2 reference Respectively representing the reference ice coating thickness and the reference ice coating position distance, and respectively representing a preset ice coating thickness and a preset duty factor corresponding to the ice coating position distance;
s4, comparing the icing risk coefficients corresponding to the icing sections with each other, and screening out the largest icing risk coefficient;
s5, extracting the material of the power transmission line from the basic parameters, matching the material of the power transmission line with icing risk coefficients which can be born by the unit diameters corresponding to the material of various power transmission lines stored in a reference database, and screening the icing risk coefficients which can be born by the unit diameters corresponding to the material of the power transmission line;
s6, extracting the diameter of the power transmission line from the basic parameters, and multiplying the icing risk coefficients which can be born by the power transmission line material corresponding to the unit diameter to obtain the icing risk coefficients which can be born by the power transmission line segment of the preferred monitoring area;
s7: comparing the maximum icing risk coefficient on the power line segment of the preferred monitoring area with the icing risk coefficient which can be born by the power line segment of the preferred monitoring area, and judging that the power line segment of the preferred monitoring area needs deicing if the maximum icing risk coefficient on the power line segment of the preferred monitoring area is larger than the icing risk coefficient which can be born by the power line segment of the preferred monitoring area.
8. The power monitoring system based on the 5G and internet of things technology according to claim 1, wherein: the deicing equipment carried on the unmanned aerial vehicle carries out the specific processing procedure corresponding to deicing processing on the power line section of the preferred monitoring area, and the specific processing procedure is as follows:
(1) Sequencing all ice coating segments existing on the power line segments in the preferred monitoring area according to the sequence from big to small of the ice coating risk coefficient, and taking the sequencing result as the deicing sequence of the power line segments in the preferred monitoring area;
(2) And carrying out deicing treatment on the power line segments of the preferred monitoring area sequentially according to the deicing sequence by utilizing deicing equipment carried on the unmanned aerial vehicle.
9. The power monitoring system based on the 5G and internet of things technology according to claim 1, wherein: the selection method for selecting the next key monitoring area nearby to carry out cruise monitoring comprises the following steps:
step 1: sequentially extracting key monitoring areas arranged at the back from the cruising sequence of the unmanned aerial vehicle, and marking the key monitoring areas as candidate monitoring areas, so as to obtain the geographic positions of the candidate monitoring areas;
step 2: comparing the geographic position of each candidate monitoring area with the geographic position of the preferred monitoring area, thereby obtaining the route distance between each candidate monitoring area and the preferred monitoring area;
step 3: matching the icing pre-warning level corresponding to each candidate monitoring area with icing critical coefficients corresponding to various icing pre-warning levels stored in a reference database, and matching the icing critical coefficients corresponding to each candidate monitoring area;
step 4: estimating the cruise demand index corresponding to each candidate monitoring area based on the icing critical coefficient corresponding to each candidate monitoring area and the route distance between each candidate monitoring area and the preferred monitoring area, wherein the estimation formula is as follows
The cruise demand index corresponding to the j candidate monitoring area is represented as j, j is represented as the number of the candidate monitoring area, j epsilon (1, n), l j 、δ j Respectively expressed as a route distance between the jth candidate monitoring area and the preferred monitoring area and an icing critical coefficient, l 0 Expressed as a reference route distance, e expressed as a natural constant, A, B respectively expressed as a set route distance, a weight coefficient corresponding to the icing crisis coefficient, and a+b=1;
step 5: and screening out the candidate monitoring area with the maximum cruise demand index from the cruise demand indexes corresponding to the candidate monitoring areas as the next key monitoring area.
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