CN115085087B - Intelligent monitoring and inspection system for overhead transmission line based on Internet of things - Google Patents
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- 238000007689 inspection Methods 0.000 title claims abstract description 171
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/085—Locating faults in cables, transmission lines, or networks according to type of conductors in power transmission or distribution lines, e.g. overhead
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/088—Aspects of digital computing
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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
- H02J13/00032—Systems characterised by the controlled or operated power network elements or equipment, the power network elements or equipment not otherwise provided for
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- Y04S40/00—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
- Y04S40/12—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
- Y04S40/128—Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment involving the use of Internet protocol
Abstract
The invention relates to the technical field of inspection of overhead transmission lines, and particularly discloses an intelligent monitoring and inspection system of an overhead transmission line based on the Internet of things.
Description
Technical Field
The invention relates to the technical field of overhead transmission line inspection, in particular to an intelligent monitoring inspection system for an overhead transmission line based on the Internet of things.
Background
Overhead transmission line covers a wide range and exposes in the complicated changeable outdoor of environment, suffers the harm of bad weather easily. Patrolling and examining overhead transmission line is the effective mode of prevention and investigation power line trouble, can master the line state condition and fix a position unusually or the fault location fast through patrolling and examining, has important realistic meaning to the safe and steady operation of guarantee electric power system.
The current inspection range of the overhead transmission line comprises a transmission conductor, an insulator, a tower and the like, wherein the insulator is used as an important component on the overhead transmission line, and the running state of the insulator directly influences the safety of the overhead transmission line, so that the inspection of the insulator on the overhead transmission line is particularly important.
The tradition patrols and examines and adopts unmanned aerial vehicle to patrol and examine the insulator on the overhead transmission line, this kind of mode can guarantee the biggest detectability, but it can't handle the insulator that detects unusually, can only fix a position and detect unusual insulator position, and then carry out corresponding processing to the insulator that detects unusually by the power workman, this has increased power workman's operation danger among the intangible, and the operation degree of difficulty is great, has higher requirement to power workman's occupation level, the while has also reduced the treatment effeciency.
When the tradition is patrolled and examined by unmanned aerial vehicle to the insulator on the overhead transmission line, because can not be close to the insulator on the spot, lead to it can only patrol and examine the apparent defect and the surface attachment of insulator, can't detect the running resistance of insulator, and the running resistance of insulator has reflected the behaviour of insulator to a certain extent, the running resistance of insulator is in case low excessively, flashover or tripping operation accident just appears easily, and then influence the normal operating of overhead transmission line, traditional unmanned aerial vehicle patrols and examines the running resistance that the mode can't realize the insulator and detect, lead to it to have the detection limitation, can't satisfy the present demand of patrolling and examining to the multidimension degree of insulator on the overhead transmission line.
Disclosure of Invention
In order to solve the technical problem, the invention provides the following technical scheme aiming at the insulator routing inspection on the overhead transmission line: the utility model provides an overhead transmission line intelligent monitoring system of patrolling and examining based on thing networking, includes: appointed power transmission line patrols and examines equipment setting module for the overhead transmission line who will wait to patrol and examine marks as appointed power transmission line, and set up on patrolling and examining the robot and patrol and examine collection equipment and patrol and examine treatment facility, and then patrol and examine appointed power transmission line by patrolling and examining the robot.
And the specified transmission line insulator mounting position extraction module is used for extracting the number of insulators on the specified transmission line from a construction design drawing of the specified transmission line, numbering the insulators as 1,2, a.
And the inspection identification module is used for setting an inspection route according to the length of the specified power transmission line, inspecting the specified power transmission line by the inspection robot according to the set inspection route, and identifying the insulators on the specified power transmission line in the inspection process.
And the designated power transmission line insulator image acquisition module is used for acquiring images of the recognized insulators by using a high-definition camera of the inspection acquisition equipment by using the inspection robot to obtain apparent images corresponding to the insulators.
And the specified power transmission line insulator running resistance detection module is used for detecting the running resistance of the identified insulator by the inspection robot by using the insulator resistance tester of the inspection acquisition equipment.
And the routing inspection database is used for storing abnormal weight factors corresponding to various appearance defect types, storing the adhesion degree, the standard conductive temperature, the standard conductive humidity and the conductive coefficient of unit attachment area corresponding to various attachment types, and storing the standard running resistance corresponding to each insulator.
And the atmospheric environment detection module of the specified power transmission line insulator installation area is used for detecting atmospheric environment parameters of the installation area of the identified insulator by using the environment acquisition terminal in the inspection acquisition equipment through the inspection robot.
And the specified power transmission line insulator running state analysis module is used for analyzing the apparent image, the running resistance and the installation region atmospheric environment parameters corresponding to each insulator and evaluating the running resistance abnormal coefficient, the apparent defect degree and the insulation effect abnormal coefficient corresponding to each insulator.
And the abnormal insulator screening and processing terminal is used for screening the abnormal insulators based on the running resistance abnormal coefficient, the apparent defect degree and the insulation effect abnormal coefficient corresponding to each insulator, and the inspection robot is used for processing the abnormal insulators by using the inspection processing equipment.
To a technical scheme that can independently implement, the collection equipment of patrolling and examining includes GPS locater, high definition appearance of making a video recording, insulator resistance tester and environment acquisition terminal.
For a separately implementable solution, the inspection processing equipment comprises an insulated wiping rod and an insulator replacing device.
For an independently implementable technical scheme, a specific identification mode for identifying insulators existing on a specified power transmission line in the inspection process is as follows: the inspection robot utilizes a GPS (global positioning system) locator in the inspection acquisition equipment to position the inspection position of the inspection robot on the specified power transmission line in real time, the positioned inspection position is matched with the installation position corresponding to each insulator, if a certain inspection position is successfully matched, the inspection position is subjected to image acquisition through a high-definition camera in the inspection acquisition equipment, and whether the inspection position has the insulator is identified from the acquired image.
For a separately implementable solution, the atmospheric environmental parameters include temperature and humidity.
For an independently implementable technical solution, the specified power line insulator operating state analyzing module includes a specified power line insulator appearance image analyzing unit and a specified power line insulator operating resistance analyzing unit.
For an independently implementable technical solution, the designated power line insulator apparent image analysis unit is configured to analyze an apparent defect degree and an insulation effect abnormal coefficient corresponding to each insulator based on an apparent image corresponding to each insulator and an atmospheric environment parameter of an installation area, and the specific analysis steps are as follows: (1) And extracting appearance defect parameters and surface adhesion parameters from the appearance images corresponding to the insulators, wherein the appearance defect parameters comprise appearance defect types and appearance defect areas, and the surface adhesion parameters comprise attachment types and attachment areas.
(2) And matching the appearance defect type corresponding to each insulator with the abnormal weight factor corresponding to each appearance defect type stored in the inspection database, and matching the abnormal weight factor corresponding to each insulator.
(3) And extracting the outline corresponding to each insulator from the apparent image corresponding to each insulator so as to obtain the surface area corresponding to each insulator.
(4) According to the corresponding appearance of each insulatorThe apparent defect degree corresponding to each insulator is calculated by the defect area, the surface area and the abnormal weight factor, and the calculation formula is
，
Expressed as apparent defect degree corresponding to the ith insulator,
expressed as the apparent defect area corresponding to the ith insulator,
expressed as the surface area corresponding to the ith insulator,
and is expressed as an abnormal weight factor corresponding to the ith insulator.
(5) And respectively matching the attachment types corresponding to the insulators with the standard conduction temperature, the standard conduction humidity and the conduction coefficient of the unit attachment area corresponding to the attachment types stored in the routing inspection database, and screening the standard conduction temperature, the standard conduction humidity and the conduction coefficient of the unit attachment area corresponding to the attachment to which each insulator belongs.
(6) Substituting atmospheric environment parameters of the installation region corresponding to each insulator and standard conductive temperature and standard conductive humidity corresponding to attachments of each insulator into a conductive performance environment influence factor calculation formula
，
Is expressed as the conductivity environmental influence factor of the attachment of the ith insulator,
、
respectively showing the temperature and the humidity of the corresponding mounting area of the ith insulator,
、
the standard conduction temperature and the standard conduction humidity corresponding to the attachment to which the ith insulator belongs are respectively expressed, e is a natural constant, and a and b are respectively expressed as the proportion coefficient corresponding to the set temperature and humidity.
(7) According to the attachment area corresponding to each insulator, the conductivity coefficient of the attachment corresponding to the unit attachment area of each insulator and the conductivity environmental influence factor, the insulation effect abnormal coefficient corresponding to each insulator is evaluated, and the evaluation formula is
，
、
、
The insulation effect abnormal coefficient and the attachment area corresponding to the ith insulator and the conductivity coefficient of the unit attachment area corresponding to the attachment are respectively expressed.
For an independently implementable technical solution, the specified power transmission line insulator operating resistance analysis unit is configured to analyze an operating resistance abnormal coefficient corresponding to each insulator based on an operating resistance corresponding to each insulator, and the specific analysis method is as follows: comparing the running resistance corresponding to each insulator with the standard running resistance corresponding to each insulator stored in the inspection database, and calculating the abnormal coefficient of the running resistance corresponding to each insulator according to the calculation formula
，
Expressed as the abnormal coefficient of running resistance corresponding to the ith insulator,
、
respectively expressed as the operating resistance and the standard operating resistance corresponding to the ith insulator.
For an independently implementable technical solution, the specific screening method for screening the abnormal insulator based on the abnormal operating resistance coefficient, the apparent defect degree and the abnormal insulation effect coefficient corresponding to each insulator is as follows: and comparing the running resistance abnormal coefficient corresponding to each insulator with a preset running resistance allowable abnormal coefficient of the insulator, and if the running resistance abnormal coefficient corresponding to a certain insulator is greater than the running resistance allowable abnormal coefficient of the insulator, taking the insulator as an abnormal insulator, wherein the abnormal type corresponding to the insulator is running resistance abnormal.
And comparing the apparent defect degree corresponding to each insulator with a preset apparent allowable defect degree of the insulator, and if the apparent defect degree corresponding to a certain insulator is greater than the apparent allowable defect degree of the insulator, taking the insulator as an abnormal insulator, wherein the abnormal category corresponding to the insulator is an apparent defect abnormity.
And comparing the abnormal insulating effect coefficient corresponding to each insulator with a preset allowable insulating effect abnormal coefficient, and if the abnormal insulating effect coefficient corresponding to a certain insulator is greater than the allowable insulating effect abnormal coefficient, taking the insulator as an abnormal insulator, wherein the abnormal category corresponding to the insulator is abnormal in insulating effect.
For an independently implementable technical solution, the specific processing mode corresponding to the inspection robot processing the abnormal insulator by using the inspection processing device is as follows: step 1: counting the number of abnormal insulators on the designated power transmission line, and acquiring the abnormal category corresponding to each abnormal insulator.
Step 2: if the abnormal type corresponding to a certain abnormal insulator is abnormal operation resistance or abnormal apparent defect, the inspection robot replaces the insulator by using an insulator replacing device in the inspection processing equipment.
And 3, step 3: if the abnormal type corresponding to a certain abnormal insulator is abnormal in insulation effect, the type of the attachment is extracted from the surface attachment parameters corresponding to the abnormal insulator, the attachment type is matched with the adhesion degree corresponding to various types of attachments stored in the routing inspection database, and the adhesion degree of the attachment to which the abnormal insulator belongs is screened out.
And 4, step 4: extracting humidity from atmospheric environment parameters of the installation area corresponding to the abnormal insulator, and calculating an attachment treatment demand index corresponding to the abnormal insulator based on the adhesion degree of the attachment to which the abnormal insulator belongs and the humidity of the installation area corresponding to the abnormal insulator, wherein the calculation formula is
，
Expressed as an additive handling requirement index corresponding to the abnormal insulator,
、
respectively expressed as the adhesion of the attachment to which the abnormal insulator belongs and the humidity of the installation region corresponding to the abnormal insulator,
the index is expressed as predefined reference humidity, the attachment processing requirement index corresponding to the abnormal insulator is compared with a set attachment processing requirement index threshold, and if the attachment processing requirement index corresponding to the abnormal insulator is greater than the attachment processing requirement index threshold, the judgment result shows that the attachment processing requirement index corresponding to the abnormal insulator is greater than the attachment processing requirement index thresholdThe abnormal insulator needs to be subjected to attachment treatment, so that the inspection robot can remove the attachments on the insulator by using the insulating wiping rod in the inspection treatment equipment.
Compared with the prior art, the invention has the following advantages: 1. according to the invention, when the inspection is carried out on the insulator on the overhead transmission line, the inspection robot is adopted for inspection, and the inspection acquisition equipment and the inspection processing equipment are arranged on the inspection robot, so that in the inspection process of the inspection robot, the inspection acquisition equipment is used for inspecting the running state of the insulator on the overhead transmission line, and meanwhile, the inspection processing equipment is used for processing the detected abnormal insulator, thus the inspection and processing double operations of the insulator on the overhead transmission line are realized, the processing by an electric power worker is not required, the defects of the traditional unmanned aerial vehicle inspection mode are overcome, the operation danger of the electric power worker is further reduced, the labor cost is also reduced, and the processing efficiency is improved to the maximum extent.
2. According to the invention, in the process of inspecting the insulator on the overhead transmission line by the inspection robot, not only are the apparent defects and surface attachments of the insulator inspected, but also the running resistance of the insulator is detected, so that the insulator is inspected comprehensively, the detection limitation of the conventional unmanned aerial vehicle for inspecting the insulator is broken, the current multi-dimensional inspection requirement on the insulator on the overhead transmission line is greatly met, the inspection level and the training force of the insulator are favorably improved, and meanwhile, the potential safety hazard of the running of the insulator is effectively avoided.
3. In the process of inspecting and monitoring the surface attachments of the insulators on the overhead transmission line, the influence of the atmospheric environment on the electrical conductivity of the surface attachments is considered, so that the atmospheric environment detection of the installation position of the insulators is increased, the depth inspection of the surface attachments of the insulators is realized, the accuracy of the monitoring of the surface attachments of the insulators is improved, and the inspection effect is indirectly improved.
4. When the inspection processing equipment arranged on the inspection robot is used for processing the insulators with abnormal detection, the abnormal type of the abnormal insulator is firstly identified, and then the abnormal insulator is subjected to targeted processing, so that the cost aggravation caused by blind replacement of the abnormal insulator is avoided, the processing adaptability of the abnormal insulator is improved, the processing efficiency is improved, the processing timeliness is further improved, and the processing effect of the abnormal insulator is improved to a certain extent.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a schematic diagram of the system connection of the present invention.
Fig. 2 is a schematic diagram of the connection of the designated power line insulator operation state analysis module according to the present invention.
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.
Referring to fig. 1, the intelligent monitoring and inspection system for the overhead transmission line based on the internet of things comprises a designated transmission line inspection equipment setting module, a designated transmission line insulator installation position extracting module, a designated transmission line insulator inspection identification module, a designated transmission line insulator image collecting module, a designated transmission line insulator operation resistance detecting module, an inspection database, a designated transmission line insulator installation area atmospheric environment detecting module, a designated transmission line insulator operation state analyzing module and an abnormal insulator screening and processing terminal.
The specified power transmission line inspection equipment setting module and the specified power transmission line insulator installation position extracting module are connected with the specified power transmission line insulator inspection identification module, the specified power transmission line inspection equipment setting module and the specified power transmission line insulator inspection identification module are connected with the specified power transmission line insulator image acquisition module, the specified power transmission line insulator operation resistance detection module and the specified power transmission line insulator installation area atmospheric environment detection module, the specified power transmission line insulator image acquisition module, the specified power transmission line insulator operation resistance detection module and the specified power transmission line insulator installation area atmospheric environment detection module are connected with the specified power transmission line insulator operation state analysis module, the specified power transmission line insulator operation state analysis module and the specified power transmission line inspection equipment setting module are connected with the abnormal insulator screening processing terminal, and the inspection database is connected with the specified power transmission line insulator operation state analysis module.
Appointed power transmission line patrol and examine equipment setting module is used for marking as appointed power transmission line with the overhead transmission line that waits to patrol and examine to set up on patrolling and examining the robot and patrol and examine collection equipment and patrol and examine treatment facility, and then patrol and examine appointed power transmission line by patrolling and examining the robot, wherein patrol and examine collection equipment and include GPS locater, high definition appearance, insulator resistance tester and environment acquisition terminal, environment acquisition terminal includes temperature sensor and humidity transducer, and wherein patrol and examine treatment facility and include insulating wiping pole and insulator change device.
Above-mentioned well GPS locater is used for patrolling and examining the position and fixing a position of patrolling and examining the robot, and high definition camera appearance is used for carrying out image acquisition to the insulator that discerns, and insulator resistance tester is used for carrying out the running resistance to the insulator that discerns and detects, and environment acquisition terminal is used for carrying out the atmospheric environment detection of mounted position to the insulator that discerns, carries the brush on the insulating wiping rod for clean the surface attachment of unusual insulator, and insulator change device is used for changing unusual insulator.
Based on the embodiment, the inspection robot is adopted for inspection when the insulators on the overhead transmission line are inspected, the inspection acquisition equipment and the inspection processing equipment are arranged on the inspection robot, the inspection acquisition equipment is used for inspecting the running state of the insulators on the overhead transmission line in the inspection process of the inspection robot, and meanwhile, the inspection processing equipment is used for processing the detected abnormal insulators, so that the inspection and processing dual operations of the insulators on the overhead transmission line are realized, the processing by electric power workers is not needed, the defects of the traditional unmanned aerial vehicle inspection mode are overcome, the operation danger of the electric power workers is reduced, the labor cost is reduced, and the processing efficiency is improved to the greatest extent.
The specified transmission line insulator installation position extraction module is used for extracting the number of insulators on a specified transmission line from a construction design drawing of the specified transmission line, numbering the insulators as 1,2, a.
Appointed power transmission line insulator patrols and examines identification module and is used for setting for according to the length of appointed power transmission line and patrols and examines the route, patrols and examines the route according to the route of patrolling and examining of setting for by patrolling and examining the robot and patrols and examines on appointed power transmission line to patrolling and examining the in-process and discerning the insulator that exists on the appointed power transmission line, its concrete identification mode is: the inspection robot utilizes a GPS (global positioning system) locator in inspection acquisition equipment to position the inspection position of the inspection robot on a specified power transmission line in real time, the positioned inspection position is matched with the installation position corresponding to each insulator, if a certain inspection position is successfully matched, the inspection position is subjected to image acquisition through a high-definition camera in the inspection acquisition equipment, whether the inspection position has an insulator is identified from the acquired image, wherein if the outline of the insulator can be captured in the acquired image, the inspection position is identified to have the insulator.
It should be noted that in the above-mentioned insulator identification method, a high-definition camera is further required to perform image acquisition on a successfully matched inspection position, and the purpose is to avoid the influence on insulator identification caused by actual falling of some insulators after installation.
And the designated power transmission line insulator image acquisition module is used for acquiring images of the recognized insulators by the inspection robot by using a high-definition camera of inspection acquisition equipment to obtain apparent images corresponding to the insulators.
And the specified power transmission line insulator running resistance detection module is used for detecting the running resistance of the identified insulator by using an insulator resistance tester of the inspection acquisition equipment through the inspection robot.
The inspection database is used for storing abnormal weight factors corresponding to various appearance defect types, storing adhesion degrees, standard conductive temperature, standard conductive humidity and conductive coefficients of unit attachment areas corresponding to various attachment types, and storing standard operating resistances corresponding to insulators.
The atmospheric environment detection module of the specified power transmission line insulator installation area is used for detecting atmospheric environment parameters of the installation area of the identified insulator by the inspection robot by utilizing the environment acquisition terminal in the inspection acquisition equipment, wherein the atmospheric environment parameters comprise temperature and humidity.
And the specified power transmission line insulator running state analysis module is used for analyzing the apparent image, the running resistance and the installation region atmospheric environment parameters corresponding to each insulator and evaluating the running resistance abnormal coefficient, the apparent defect degree and the insulation effect abnormal coefficient corresponding to each insulator.
In one possible implementation, referring to fig. 2, the specified power line insulator operating state analyzing module includes a specified power line insulator appearance image analyzing unit and a specified power line insulator operating resistance analyzing unit.
The designated power transmission line insulator apparent image analysis unit is used for analyzing the apparent defect degree and the insulation effect abnormal coefficient corresponding to each insulator based on the apparent image corresponding to each insulator and the atmospheric environment parameter of the installation area, and the specific analysis steps are as follows: (1) And extracting appearance defect parameters and surface adhesion parameters from the appearance images corresponding to the insulators, wherein the appearance defect parameters comprise appearance defect types and appearance defect areas, and the surface adhesion parameters comprise attachment types and attachment areas.
It should be noted that the types of appearance defects mentioned above include, but are not limited to, breakage, cracks, rusting, and the types of attachments include dust, bird droppings, etc.
(2) And matching the appearance defect type corresponding to each insulator with the abnormal weight factor corresponding to each appearance defect type stored in the inspection database, and matching the abnormal weight factor corresponding to each insulator from the abnormal weight factors.
(3) And extracting the outline corresponding to each insulator from the apparent image corresponding to each insulator so as to obtain the surface area corresponding to each insulator.
(4) According to the apparent defect area, the surface area and the abnormal weight factor corresponding to each insulator, the apparent defect degree corresponding to each insulator is calculated according to the calculation formula
，
Expressed as apparent defect degree corresponding to the ith insulator,
expressed as the apparent defect area corresponding to the ith insulator,
expressed as the surface area corresponding to the ith insulator,
and is expressed as an abnormal weight factor corresponding to the ith insulator, wherein the larger the apparent defect area corresponding to a certain insulator is, the larger the abnormal weight factor is, the larger the apparent defect degree corresponding to the insulator is.
(5) And respectively matching the attachment types corresponding to the insulators with the standard conductive temperature, the standard conductive humidity and the conductive coefficient of the unit attachment area corresponding to the attachment types stored in the routing inspection database, and screening the standard conductive temperature, the standard conductive humidity and the conductive coefficient of the unit attachment area corresponding to the attachment to which the insulators belong.
(6) Substituting atmospheric environment parameters of the installation region corresponding to each insulator and standard conductive temperature and standard conductive humidity corresponding to the attachment of each insulator into the conductive performance environment influence factor calculation formulaFormula (II)
，
Is expressed as the conductivity environmental influence factor of the attachment of the ith insulator,
、
respectively showing the temperature and the humidity of the corresponding mounting area of the ith insulator,
、
the standard conductive temperature and the standard conductive humidity corresponding to the attachment to which the ith insulator belongs are respectively expressed, e is expressed as a natural constant, and a and b are respectively expressed as the proportion coefficients corresponding to the set temperature and humidity, wherein the larger the difference between the temperature and the humidity of the mounting region corresponding to a certain insulator and the standard conductive temperature and the standard conductive humidity corresponding to the attachment to which the insulator belongs is, the larger the conductive performance environmental influence factor of the attachment to which the insulator belongs is, the larger the conductive performance environmental influence of the attachment to which the insulator belongs is.
(7) According to the attachment area corresponding to each insulator, the conductivity coefficient of the attachment corresponding to the unit attachment area of each insulator and the conductivity environmental influence factor, the insulation effect abnormal coefficient corresponding to each insulator is evaluated, and the evaluation formula is
，
、
、
The insulation effect abnormal coefficient and the attachment area corresponding to the ith insulator and the conductivity coefficient of the unit attachment area corresponding to the attachment are respectively expressed.
In a preferred scheme, in the process of inspecting and monitoring the surface attachments of the insulators on the overhead transmission line, the influence of the atmospheric environment on the electrical conductivity of the surface attachments is considered, the larger the environmental influence of the electrical conductivity corresponding to the insulators is, the larger the insulation level of the insulators is, the short circuit is formed between the insulators, flashover accidents are easy to occur, and further the safety of an electric power system is influenced, and the atmospheric environment detection of the installation position of the insulators is added on the basis of the influence, so that the deep inspection of the surface attachments of the insulators is realized, the accuracy of monitoring the surface attachments of the insulators is improved, and the inspection effect is indirectly improved.
The specified power transmission line insulator operation resistance analysis unit is used for analyzing the operation resistance abnormal coefficient corresponding to each insulator based on the operation resistance corresponding to each insulator, and the specific analysis method comprises the following steps: comparing the running resistance corresponding to each insulator with the standard running resistance corresponding to each insulator stored in the inspection database, and calculating the abnormal coefficient of the running resistance corresponding to each insulator, wherein the calculation formula is
，
Expressed as the abnormal coefficient of running resistance corresponding to the ith insulator,
、
respectively expressed as the operating resistance and the standard operating resistance corresponding to the ith insulator.
In a preferred scheme, the invention not only inspects the apparent defects and surface attachments of the insulator, but also detects the running resistance of the insulator in the inspection process of the insulator on the overhead transmission line by the inspection robot, thereby realizing the comprehensive inspection of the insulator, breaking the detection limitation of the inspection of the insulator by the traditional unmanned aerial vehicle, greatly meeting the current multi-dimensional inspection requirement of the insulator on the overhead transmission line, being beneficial to improving the inspection level and the training force of the insulator, and effectively avoiding the running safety hazard of the insulator.
And the abnormal insulator screening and processing terminal is used for screening the abnormal insulators based on the running resistance abnormal coefficient, the apparent defect degree and the insulation effect abnormal coefficient corresponding to each insulator, and the inspection robot is used for processing the abnormal insulators by using the inspection processing equipment.
The specific screening method for screening the abnormal insulators based on the abnormal operating resistance coefficient, the abnormal apparent defect degree and the abnormal insulation effect coefficient corresponding to each insulator is as follows: and comparing the running resistance abnormal coefficient corresponding to each insulator with a preset running resistance allowable abnormal coefficient of the insulator, and if the running resistance abnormal coefficient corresponding to a certain insulator is greater than the running resistance allowable abnormal coefficient of the insulator, taking the insulator as an abnormal insulator, wherein the abnormal type corresponding to the insulator is running resistance abnormal.
And comparing the apparent defect degree corresponding to each insulator with a preset apparent allowable defect degree of the insulator, and if the apparent defect degree corresponding to a certain insulator is greater than the apparent allowable defect degree of the insulator, taking the insulator as an abnormal insulator, wherein the abnormal category corresponding to the insulator is the apparent defect abnormality.
And comparing the abnormal insulation effect coefficient corresponding to each insulator with a preset allowable insulation effect abnormal coefficient, and if the abnormal insulation effect coefficient corresponding to a certain insulator is greater than the allowable insulation effect abnormal coefficient, taking the insulator as an abnormal insulator, wherein the abnormal category corresponding to the insulator is abnormal insulation effect.
The specific processing mode corresponding to the routing inspection robot processing the abnormal insulator by utilizing the routing inspection processing equipment is as follows: step 1: counting the number of abnormal insulators on the designated power transmission line, and acquiring the abnormal category corresponding to each abnormal insulator.
Step 2: if the abnormal type corresponding to a certain abnormal insulator is abnormal in running resistance or abnormal in apparent defect, the inspection robot carries out replacement processing on the insulator by using an insulator replacement device in the inspection processing equipment.
And step 3: and if the abnormal type corresponding to a certain abnormal insulator is abnormal in insulation effect, extracting the attachment type from the surface attachment parameters corresponding to the abnormal insulator, matching the attachment type with the adhesion degree corresponding to various attachment types stored in the routing inspection database, and screening the adhesion degree of the attachment to which the abnormal insulator belongs.
And 4, step 4: extracting humidity from atmospheric environment parameters of the installation area corresponding to the abnormal insulator, and calculating an attachment treatment demand index corresponding to the abnormal insulator based on the adhesion degree of the attachment to which the abnormal insulator belongs and the humidity of the installation area corresponding to the abnormal insulator, wherein the calculation formula is
，
Expressed as an additive handling requirement index corresponding to the abnormal insulator,
、
respectively expressed as the adhesion of the attachment to which the abnormal insulator belongs and the humidity of the installation region corresponding to the abnormal insulator,
expressed as a predefined reference humidity, wherein the influence of the adhesion degree of the attachment to which the abnormal insulator belongs on the attachment treatment demand index is positive, and the humidity of the corresponding installation area of the abnormal insulator on the attachmentThe influence of the object handling requirement index is negative influence, and then the object handling requirement index corresponding to the abnormal insulator is compared with the set object handling requirement index threshold, if the object handling requirement index corresponding to the abnormal insulator is greater than the object handling requirement index threshold, the abnormal insulator is indicated to be required to be subjected to object handling, and therefore the inspection robot can remove the objects attached to the insulator by using the insulating wiping rod in the inspection processing equipment.
According to the technical scheme, when the inspection processing equipment arranged on the inspection robot is used for processing the abnormal insulator, the abnormal type of the abnormal insulator is firstly identified, and then the abnormal insulator is subjected to targeted processing, so that the cost aggravation caused by blind replacement processing of the abnormal insulator is avoided, the processing adaptability of the abnormal insulator is improved, the processing efficiency is improved, the processing timeliness is further improved, and the processing effect of the abnormal insulator is improved to a certain extent.
It should be noted that, before the inspection robot processes the insulator with the abnormal insulation effect, considering that not all the insulators with the abnormal insulation effect need to be cleaned by the attachments, and the adhesion of some attachments is not high, and the insulators do not need to be cleaned actively, the abnormal insulator is firstly subjected to the attachment processing demand index analysis, and then is selectively cleaned according to the analysis result, so that the attachment processing on demand is realized, the agility and the targeted cleaning processing of the attachments are embodied, on the one hand, the waste of cleaning processing resources is effectively avoided, and on the other hand, the processing timeliness of the insulators needing the attachment cleaning processing is improved.
It should be further noted that, in the process of analyzing the attachment processing requirement index for the insulator with the abnormal insulation effect, from the practical standpoint, the influence of the adhesion degree of the attachment and the humidity of the insulator installation area on the attachment processing requirement index is integrated, so that comprehensive analysis is performed, the one-sidedness of an analysis result caused by analyzing the attachment processing requirement index according to the adhesion degree of the attachment singly is avoided, and a reliable judgment basis is provided for judging whether the insulator with the abnormal insulation effect needs to perform attachment cleaning processing.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (10)
1. The utility model provides an overhead transmission line intelligent monitoring system of patrolling and examining based on thing networking which characterized in that includes:
the specified power transmission line inspection equipment setting module is used for marking the overhead power transmission line to be inspected as a specified power transmission line, arranging inspection acquisition equipment and inspection processing equipment on the inspection robot, and then inspecting the specified power transmission line by the inspection robot;
the specified transmission line insulator installation position extraction module is used for extracting the number of insulators on the specified transmission line from a construction design drawing of the specified transmission line, numbering the insulators as 1,2, a.
The inspection robot is used for inspecting the designated power transmission line according to the set inspection route and identifying the insulators on the designated power transmission line in the inspection process;
the method comprises the steps that a designated power transmission line insulator image acquisition module is used for acquiring images of recognized insulators by a patrol robot through a high-definition camera of patrol acquisition equipment to obtain apparent images corresponding to the insulators;
the specified power transmission line insulator running resistance detection module is used for detecting the running resistance of the identified insulator by the inspection robot by using an insulator resistance tester of the inspection acquisition equipment;
the inspection database is used for storing abnormal weight factors corresponding to various appearance defect types, storing the adhesion degree, the standard conduction temperature, the standard conduction humidity and the conduction coefficient of unit attachment area corresponding to various attachment types, and storing the standard running resistance corresponding to each insulator;
the method comprises the steps that an atmospheric environment detection module of a power transmission line insulator installation area is appointed, and the atmospheric environment detection module is used for detecting atmospheric environment parameters of the identified insulator in the installation area by using an environment acquisition terminal in inspection acquisition equipment through an inspection robot;
the specified power transmission line insulator running state analysis module is used for analyzing the apparent image, the running resistance and the atmospheric environment parameters of the installation area corresponding to each insulator and evaluating the running resistance abnormal coefficient, the apparent defect degree and the insulation effect abnormal coefficient corresponding to each insulator;
and the abnormal insulator screening and processing terminal is used for screening the abnormal insulators based on the running resistance abnormal coefficient, the apparent defect degree and the insulation effect abnormal coefficient corresponding to each insulator, and the inspection robot is used for processing the abnormal insulators by using the inspection processing equipment.
2. The intelligent monitoring inspection system for overhead transmission lines based on the Internet of things according to claim 1, characterized in that: patrol and examine collection equipment and include GPS locater, high definition appearance of making a video recording, insulator resistance tester and environment acquisition terminal.
3. The intelligent monitoring inspection system for overhead transmission lines based on the Internet of things according to claim 1, characterized in that: the inspection processing equipment comprises an insulating wiping rod and an insulator replacing device.
4. The intelligent monitoring inspection system for the overhead transmission lines based on the Internet of things according to claim 2, characterized in that: the specific identification mode for identifying the insulators on the designated power transmission line in the inspection process is as follows: the inspection robot utilizes a GPS (global positioning system) locator in the inspection acquisition equipment to locate the inspection position of the inspection robot on the appointed power transmission line in real time, the located inspection position is matched with the installation position corresponding to each insulator, if the inspection position is successfully matched, the inspection position is subjected to image acquisition through a high-definition camera in the inspection acquisition equipment, and then whether the inspection position has the insulator or not is identified from the acquired image.
5. The overhead transmission line intelligent monitoring inspection system based on the Internet of things according to claim 1, characterized in that: the atmospheric environmental parameters include temperature and humidity.
6. The intelligent monitoring inspection system for overhead transmission lines based on the Internet of things according to claim 1, characterized in that: the specified power transmission line insulator running state analysis module comprises a specified power transmission line insulator apparent image analysis unit and a specified power transmission line insulator running resistance analysis unit.
7. The intelligent monitoring inspection system for overhead transmission lines based on the Internet of things according to claim 6, characterized in that: the designated power transmission line insulator apparent image analysis unit is used for analyzing the apparent defect degree and the insulation effect abnormal coefficient corresponding to each insulator based on the apparent image corresponding to each insulator and the atmospheric environment parameter of the installation area, and the specific analysis steps are as follows:
(1) Extracting appearance defect parameters and surface adhesion parameters from the appearance images corresponding to the insulators, wherein the appearance defect parameters comprise appearance defect types and appearance defect areas, and the surface adhesion parameters comprise attachment types and attachment areas;
(2) Matching the appearance defect type corresponding to each insulator with the abnormal weight factor corresponding to each appearance defect type stored in the inspection database, and matching the abnormal weight factor corresponding to each insulator;
(3) Extracting the appearance contour corresponding to each insulator from the apparent image corresponding to each insulator, thereby obtaining the surface area corresponding to each insulator;
(4) According to the corresponding apparent defect area, surface area and abnormal weight factor of each insulatorCalculating the apparent defect degree corresponding to each insulator according to the calculation formula
，
Expressed as apparent defect degree corresponding to the ith insulator,
expressed as the apparent defect area corresponding to the ith insulator,
expressed as the surface area corresponding to the ith insulator,
expressing the abnormal weight factor corresponding to the ith insulator;
(5) Matching the attachment types corresponding to the insulators with standard conductive temperatures, standard conductive humidity and conductive coefficients of unit attachment areas corresponding to the attachment types stored in a routing inspection database respectively, and screening out the standard conductive temperatures, the standard conductive humidity and the conductive coefficients of the unit attachment areas corresponding to the attachments to which the insulators belong;
(6) Substituting atmospheric environment parameters of the installation region corresponding to each insulator and standard conductive temperature and standard conductive humidity corresponding to attachments of each insulator into a conductive performance environment influence factor calculation formula
，
Is expressed as the conductivity environmental influence factor of the attachment of the ith insulator,
、
respectively showing the temperature and the humidity of the corresponding mounting area of the ith insulator,
、
respectively representing the standard conduction temperature and the standard conduction humidity corresponding to the attachment to which the ith insulator belongs, e representing a natural constant, and a and b representing the proportion coefficients corresponding to the set temperature and humidity;
(7) According to the attachment area corresponding to each insulator, the conductivity coefficient of the attachment corresponding to the unit attachment area of each insulator and the conductivity environmental influence factor, the insulation effect abnormal coefficient corresponding to each insulator is evaluated, and the evaluation formula is
，
、
、
The insulation effect abnormal coefficient and the adhesion area corresponding to the ith insulator and the conductivity coefficient of the unit adhesion area corresponding to the attachment are respectively expressed.
8. The overhead transmission line intelligent monitoring inspection system based on the Internet of things according to claim 6, characterized in that: the specified power transmission line insulator operating resistance analysis unit is used for analyzing the operating resistance abnormity corresponding to each insulator based on the operating resistance corresponding to each insulatorThe specific analysis method comprises the following steps: comparing the running resistance corresponding to each insulator with the standard running resistance corresponding to each insulator stored in the inspection database, and calculating the abnormal coefficient of the running resistance corresponding to each insulator according to the calculation formula
，
Expressed as the abnormal coefficient of running resistance corresponding to the ith insulator,
、
respectively expressed as an operation resistance and a standard operation resistance corresponding to the ith insulator.
9. The overhead transmission line intelligent monitoring inspection system based on the Internet of things according to claim 1, characterized in that: the specific screening method for screening the abnormal insulators based on the abnormal operating resistance coefficient, the abnormal apparent defect degree and the abnormal insulation effect coefficient corresponding to each insulator is as follows:
comparing the running resistance abnormal coefficient corresponding to each insulator with a preset insulator running resistance allowable abnormal coefficient, and if the running resistance abnormal coefficient corresponding to a certain insulator is greater than the insulator running resistance allowable abnormal coefficient, taking the insulator as an abnormal insulator, wherein the abnormal type corresponding to the insulator is running resistance abnormal;
comparing the apparent defect degree corresponding to each insulator with a preset apparent allowable defect degree of the insulator, and if the apparent defect degree corresponding to a certain insulator is greater than the apparent allowable defect degree of the insulator, taking the insulator as an abnormal insulator, wherein the abnormal category corresponding to the insulator is apparent defect abnormity;
and comparing the abnormal insulating effect coefficient corresponding to each insulator with a preset allowable insulating effect abnormal coefficient, and if the abnormal insulating effect coefficient corresponding to a certain insulator is greater than the allowable insulating effect abnormal coefficient, taking the insulator as an abnormal insulator, wherein the abnormal category corresponding to the insulator is abnormal in insulating effect.
10. The intelligent monitoring inspection system for the overhead transmission lines based on the Internet of things according to claim 9, characterized in that: the specific treatment mode corresponding to the inspection of the abnormal insulator by the inspection robot by using the inspection treatment equipment is as follows:
step 1: counting the number of abnormal insulators on the designated power transmission line, and acquiring abnormal categories corresponding to the abnormal insulators;
step 2: if the abnormal type corresponding to a certain abnormal insulator is abnormal operation resistance or abnormal appearance defect, the inspection robot replaces the insulator by using an insulator replacing device in the inspection processing equipment;
and step 3: if the abnormal type corresponding to a certain abnormal insulator is abnormal in insulation effect, extracting the attachment type from the surface attachment parameters corresponding to the abnormal insulator, matching the attachment type with the adhesion degrees corresponding to various attachment types stored in the routing inspection database, and screening out the adhesion degree of the attachment to which the abnormal insulator belongs;
and 4, step 4: extracting humidity from atmospheric environment parameters of the installation area corresponding to the abnormal insulator, and calculating an attachment treatment demand index corresponding to the abnormal insulator based on the adhesion degree of the attachment to which the abnormal insulator belongs and the humidity of the installation area corresponding to the abnormal insulator, wherein the calculation formula is
,
Expressed as an additive handling requirement index corresponding to the abnormal insulator,
、
respectively showing the adhesion degree of the attachment to which the abnormal insulator belongs and the humidity of the corresponding mounting area of the abnormal insulator,
and if the attachment processing demand index corresponding to the abnormal insulator is greater than the attachment processing demand index threshold, indicating that the abnormal insulator needs to be subjected to attachment processing, so that the inspection robot removes attachments on the insulator by using an insulating wiping rod in inspection processing equipment.
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Denomination of invention: An intelligent monitoring and inspection system for overhead transmission lines based on the Internet of Things Granted publication date: 20221025 Pledgee: Nantong Branch of Bank of Nanjing Co.,Ltd. Pledgor: Nantong Ruiyue Information Technology Co.,Ltd. Registration number: Y2024980014898 |