CN115201582B - High-voltage transmission electromagnetic radiation detection method and system - Google Patents
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Abstract
The invention provides a high-voltage transmission electromagnetic radiation detection method and system, belonging to the technical field of electromagnetic radiation detection of a power transmission line; the system comprises an unmanned aerial vehicle, a power transmission line arranged between adjacent overhead devices, a modeling unit, a calculating unit, a path planning unit, a measuring unit and an output unit; the modeling unit constructs a three-dimensional model of two adjacent overhead devices and the power transmission line between the two adjacent overhead devices; the calculation unit obtains an electromagnetic radiation calculation value of a peripheral area of the three-dimensional model according to the three-dimensional model constructed by the modeling unit and the parameters of the power transmission line; the path planning unit is used for dividing the three-dimensional model into a plurality of sections, planning the flight path of the unmanned aerial vehicle in each section and sending the flight path to the unmanned aerial vehicle; the measurement unit is fixedly arranged on the unmanned aerial vehicle and moves along a flight track along with the unmanned aerial vehicle to obtain the measured values of the electric field intensity and the magnetic field intensity on the flight track; the output unit compares and outputs the calculation results and the measured values according to the calculation unit and the measurement unit.
Description
Technical Field
The invention relates to the technical field of radiation detection of power transmission lines, in particular to a high-voltage transmission electromagnetic radiation detection method and system.
Background
High voltage transmission lines are a method used to adapt to long distance power transmission, which reduces the current and loss in the lines by increasing the voltage. Generally, transmission voltage below 220KV is called high-voltage transmission, and transmission voltage of 330KV to 765 KV is called ultra-high-voltage transmission. The common high-voltage transmission line adopts a tower type overhead transmission mode, namely, the high-voltage transmission line is operated in an overhead mode through an angle steel tower or an electric power steel pipe tower. Along with the gradual improvement of the living standard of people, more and more attention is paid to the possible harm brought by the electromagnetic radiation of the overhead high-voltage transmission line. Electromagnetic radiation generated by the high-voltage transmission line may adversely affect the utilization of surrounding land, the health of people, or the quality of communication. Research shows that life or work in a high electric field area environment for a long time can have negative effects on the nervous system or the immune system. Therefore, the practical measurement of the quantification of the electromagnetic radiation around the high-voltage transmission line by technical means is very helpful for the planning and construction of the surroundings. Chinese patent application publication No. CN111983331a discloses an electromagnetic radiation detection system for power transmission and operation personnel and a method for using the same, and an unmanned aerial vehicle is used for measuring a planned path. However, the scheme can only carry out field measurement, and when the electromagnetic radiation is changed, a corresponding contrast means is lacked, and whether the electromagnetic radiation condition is deteriorated or changed cannot be known.
In summary, it is very necessary to calculate the theoretical electromagnetic radiation around the transmission line according to the actual situation of the high-voltage transmission line, and to periodically measure the theoretical electromagnetic radiation in the field by technical means, so as to establish the necessary electromagnetic protection range for knowing the internal situation of the transmission line and the actual situation change of the electromagnetic radiation.
Disclosure of Invention
In view of the above, the invention provides a high-voltage transmission electromagnetic radiation detection method and system for planning a flight trajectory of an unmanned aerial vehicle according to a modeling calculation value, correcting model accuracy, and accurately acquiring a change condition of an electric field or a magnetic field at a boundary position.
The technical scheme of the invention is realized as follows:
in one aspect, the invention provides a high-voltage transmission electromagnetic radiation detection method, which comprises the following steps:
s1: a modeling unit (3), a calculating unit (4), a path planning unit (5), a measuring unit (6) and an output unit (7) are configured and initialized;
s2: the modeling unit (3) performs modeling according to the altitude position of the adjacent overhead equipment (1), the actual height of the overhead equipment (1) and the suspension degree of the power transmission line (2), establishes a three-dimensional model in a world coordinate system, and the path planning unit (5) divides the three-dimensional model into a first section (100) and a second section (200) respectively;
s3: the calculation unit (4) solves theoretical electric field intensity and magnetic field intensity in a first section (100) or a second section (200) on the three-dimensional models of the overhead equipment (1) and each transmission line (2);
s4: the path planning unit (5) selects characteristic points in each first section (100) or second section (200) and plans the flight track of the unmanned aerial vehicle, so that the unmanned aerial vehicle moves according to the set flight track in each section and drives the measuring unit (6) to detect the electric field intensity or the magnetic field intensity;
s5: acquiring characteristic points on the flight paths in the first cross section (100) or the second cross section (200) with the same electric field intensity or magnetic field intensity at different flight heights in the flight paths in the first cross section (100) or the second cross section (200) respectively, and acquiring coordinates of a world coordinate system of the characteristic points on the flight paths; respectively sending the electric field intensity, the magnetic field intensity or the coordinates of a world coordinate system of the characteristic points on the flight path in the first cross section (100) or the second cross section (200) with the same electric field intensity or magnetic field intensity to an output unit (7) and a path planning unit (5);
s6: the path planning unit (5) optimizes the characteristic points in the first section (100) or the second section (200), and stores the optimized flight path and the current season or the test time period as reference information.
On the basis of the technical scheme, preferably, the path planning unit (5) in the step S2 divides the three-dimensional model into a first section (100) and a second section (200), wherein the transmission line (2) is in a parabola shape with an upward opening between adjacent overhead devices (1), a closed graph is formed by encircling a connecting line of an opening side of the parabola shape and an intersection point of the two overhead devices (1), a plurality of parallel first sections (100) which are arranged at intervals are arranged to divide the closed graph in an equal area manner, each first section (100) is arranged perpendicular to the plane of the closed graph, and each first section (100) is arranged perpendicular to the ground plane; a plurality of equidistant planes are arranged on two sides of the longitudinal central plane of the overhead device (1) in an equidistant distribution mode by taking the longitudinal central plane of the overhead device (1) as a reference, and the longitudinal central plane of the overhead device (1) and the equidistant planes on the overhead device (1) are used as second sections (200).
Preferably, the path planning unit (5) in step S4 selects characteristic points in each first cross section (100) or second cross section (200) and plans the flight trajectory of the drone, and selects discrete points as the characteristic points in a manner of alternately changing or simultaneously changing the abscissa and the ordinate in the plane where the first cross section (200) or second cross section (200) is located, and sequentially connects adjacent characteristic points by using a straight line, a broken line or a curve to form the flight trajectory of the drone in the first cross section (100) or second cross section (200); the spacing or included angle between adjacent straight lines, broken lines or curved lines constituting the flight trajectory is not exactly the same.
Preferably, in the step S6, the path planning means (5) optimizes the feature points in the first cross-section (100) or the second cross-section (200) by transmitting the electric field strength, the magnetic field strength, or the world coordinate system coordinates of the feature points in each of the first cross-section (100) or the second cross-section (200) measured by the measuring means (6) and the theoretical electric field strength and magnetic field strength of the world coordinate system coordinates corresponding to the feature points by the calculating means (4) to the path planning means (5), and optimizes the feature points when the following criteria are satisfied simultaneously:
1) At least two characteristic points with the same electric field intensity or magnetic field intensity are reserved on different straight lines, broken lines or curves at the same height;
2) Connecting characteristic points or calculated value corresponding points with the same electric field intensity or magnetic field intensity on different first cross sections (100) or second cross sections (200) by adopting a curve; the regions between the adjacent characteristic points or between the adjacent characteristic points and the corresponding points of the calculated values are smoothly connected in an interpolation mode, the characteristic points or the corresponding points of the calculated values with the same electric field intensity or magnetic field intensity on the adjacent first section (100) or second section (200) are spliced to form a smooth electric field intensity trend graph and a smooth magnetic field intensity trend graph, and the characteristic points or the corresponding points of the calculated values acquired by a calculating unit (4) deviating from the electric field intensity trend graph or the magnetic field intensity trend graph are removed;
3) The area of a boundary of a curve formed in the first section (100) or the second section (200) by using the lower-limit electric field intensity harmful to a human body and a ground surrounding area is not less than 65% of the product of the abscissa span and the ordinate span of the curve; or the area of a curve encircled area formed by the magnetic field intensity in the first section (100) or the second section (200) is not less than 90% of the product of the abscissa span and the ordinate span of the curve;
4) The maximum value of the projection area of the boundary of a smooth electric field intensity trend graph formed in each first section (100) or second section (200) of the lower limit electric field intensity harmful to the human body on the ground is not more than 8 times of the projection area of the horizontal width space area of the power transmission line on the adjacent overhead equipment (1) on the ground; the maximum value of the projection area of the boundary of a smooth magnetic field intensity trend graph formed in each first cross section (100) or second cross section (200) of the lower limit magnetic field intensity harmful to the human body on the ground is not more than 6 times of the projection area of the horizontal width interval area of the power transmission line on the adjacent overhead equipment (1) on the ground.
Preferably, the characteristic points deviating from the electric field intensity trend chart or the magnetic field intensity trend chart or the calculated value corresponding points acquired by the calculating unit (4) are eliminated, and the distance from the characteristic points or the calculated value corresponding points to the electric field intensity trend chart or the magnetic field intensity trend chart is more than 5 times of the equivalent diameter of the power transmission line (2).
On the basis of the above technical solution, preferably, the method further includes step S7: randomly selecting a plurality of optimized flight tracks in the first cross section (100) or the second cross section (200), driving a measuring unit (6) by an unmanned aerial vehicle to carry out actual measurement, acquiring an actual measurement value, comparing the actual measurement value with reference information, and judging the deviation degree of the actual measurement value and the reference information so as to evaluate whether the electric field or the magnetic field around the power transmission line (2) or the overhead equipment (1) is obviously changed.
On the basis of the technical scheme, preferably, the measuring unit (6) is an EHP-50F low-frequency electromagnetic radiation analyzer.
On the other hand, the invention also provides a high-voltage transmission electromagnetic radiation detection system which comprises an unmanned aerial vehicle, a transmission line (2) arranged between adjacent overhead devices (1), a modeling unit (3), a calculation unit (4), a path planning unit (5), a measurement unit (6) and an output unit (7);
the modeling unit (3) is used for constructing a three-dimensional model of two adjacent overhead devices (1) and the transmission line (2) between the two adjacent overhead devices;
the calculation unit (4) is used for obtaining an electromagnetic radiation calculation value of the peripheral area of the three-dimensional model according to the three-dimensional model constructed by the modeling unit (3) and the parameters of the power transmission line (2); the calculation unit (4) is used for acquiring the theoretical electric field intensity or magnetic field intensity distribution condition around the three-dimensional model;
the path planning unit (5) is used for dividing the three-dimensional model into a plurality of sections, planning the flight path of the unmanned aerial vehicle in each section and sending the flight path to the unmanned aerial vehicle;
the measuring unit (6) is fixedly arranged on the unmanned aerial vehicle, moves along a flight track along with the unmanned aerial vehicle, and acquires electric field intensity and magnetic field intensity measured values on the flight track;
and the output unit (7) compares and outputs the calculated value of the electromagnetic radiation, the measured value of the electric field intensity and the measured value of the magnetic field intensity according to the electromagnetic radiation provided by the calculating unit (4) and the measuring unit (6).
Preferably, the computing unit (4) is used for solving the electric field intensity of each position of the flight track in the first section (100) or the second section (200) at the overhead equipment (1) and each power transmission line (2) according to a superposition principle; and solving the magnetic field intensity of each position of the flight path in the first section (100) or the second section (200) at the overhead equipment (1) and each power transmission line (2) according to ampere's law.
Compared with the prior art, the high-voltage transmission electromagnetic radiation detection method and system provided by the invention have the following beneficial effects:
(1) According to the scheme, three-dimensional simulation modeling is carried out on the power transmission line and the overhead equipment, the distribution conditions of electric fields or magnetic fields around the power transmission line and the overhead equipment are estimated in advance, then the flight track of the unmanned aerial vehicle is planned in a layering mode from two dimensions of height and the extension direction of cables according to the distance between the power transmission line and the overhead equipment, and the unmanned aerial vehicle drives the measuring unit to carry out actual measurement on the distribution conditions of the electric field intensity and the magnetic field intensity on the flight track;
(2) After the measurement unit acquires the electric field intensity and the magnetic field intensity measured value on the flight track, the electric field intensity or the magnetic field intensity distribution situation around the power transmission line and the overhead equipment is corrected by further combining the calculated value after three-dimensional modeling and the measured value on the flight track, and the projection area, namely the overall balance between the ground protection area and the total height of the overhead equipment is carried out by taking the electric field intensity or the magnetic field intensity limit harmful to the human body as a boundary.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a front view of a transmission line and overhead equipment of a high voltage transmission electromagnetic radiation detection method and system of the present invention;
FIG. 2 is a block diagram of a system architecture of a high voltage transmission electromagnetic radiation detection method and system of the present invention;
fig. 3 is a schematic diagram showing a first cross section and a second cross section of a transmission line and an overhead device of the high voltage transmission electromagnetic radiation detection method and system according to the present invention;
fig. 4 is a schematic diagram of the distribution of a first cross section and a second cross section of a transmission line and an overhead device of the high voltage transmission electromagnetic radiation detection method and system of the invention;
fig. 5 is a left side view of a power transmission line and overhead equipment combination of a high voltage transmission electromagnetic radiation detection method and system of the present invention;
fig. 6 is a partial cross-sectional view of a power transmission line and overhead equipment combination of a high voltage transmission electromagnetic radiation detection method and system of the present invention;
fig. 7 is a schematic view of a flight trajectory of an unmanned aerial vehicle in a first cross section according to the high-voltage transmission electromagnetic radiation detection method and system of the present invention;
fig. 8 is a schematic view of another flight trajectory of the unmanned aerial vehicle in the first cross section according to the high voltage transmission electromagnetic radiation detection method and system of the present invention;
fig. 9 is a schematic view of a third flight trajectory of the unmanned aerial vehicle in the first cross section according to the high voltage transmission electromagnetic radiation detection method and system of the present invention;
fig. 10 is a schematic view of a flight trajectory of an unmanned aerial vehicle in a second cross section according to the high voltage transmission electromagnetic radiation detection method and system of the present invention;
fig. 11 is a schematic diagram of electric field intensity equipotential lines of a high voltage transmission electromagnetic radiation detection method and system of the present invention;
fig. 12 is a schematic diagram of equipotential lines of magnetic field strength of a method and system for detecting electromagnetic radiation in high-voltage power transmission 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 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 obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The technical scheme of the invention is realized as follows: as shown in fig. 1-10, the present invention provides a high voltage transmission electromagnetic radiation detection system, which includes an unmanned aerial vehicle, a transmission line 2 disposed between adjacent overhead devices 1, a modeling unit 3, a calculation unit 4, a path planning unit 5, a measurement unit 6, and an output unit 7; the overhead equipment 1 can be realized by a conventional angle steel tower or an electric steel pipe tower. The power transmission line 2 can adopt aluminum steel stranded wires.
The modeling unit 3 constructs a three-dimensional model of two adjacent overhead devices 1 and the transmission line 2 between the two adjacent overhead devices; and the modeling unit 3 utilizes CAE software to establish physical models of the overhead equipment 1 and the power transmission line 2 and simulate the material and the suspension stress state of the power transmission line 2.
The calculation unit 4 obtains an electromagnetic radiation calculation value of the peripheral area of the three-dimensional model according to the three-dimensional model constructed by the modeling unit 3 and the parameters of the power transmission line 2; the method is used for acquiring the theoretical electric field intensity or magnetic field intensity distribution condition around the three-dimensional model;
the path planning unit 5 is used for dividing the three-dimensional model into a plurality of sections, planning the flight trajectory of the unmanned aerial vehicle in each first section or second section, and sending the planned flight trajectory to the unmanned aerial vehicle; as shown in fig. 2, 3, 4 and fig. 7 to 10, the path planning unit 5 divides the power transmission line 2 in the three-dimensional model into a plurality of first cross sections 100 according to the length direction, sets characteristic points in each first cross section 100, and connects the characteristic points in sequence to form the flight trajectory of the unmanned aerial vehicle in the first cross section 100; the path planning unit 5 further divides the overhead device 1 of the three-dimensional model into a plurality of second sections 200, and correspondingly presets characteristic points in the second sections 200, and the characteristic points are sequentially connected to form a flight trajectory in the second sections 200; and respectively acquiring the coordinates of the characteristic points of each section in a world coordinate system. Since a three-dimensional model is established in advance, and the first cross section 100 or the second cross section 200 is vertically arranged, the power transmission line 2 is divided by the adjacent first cross section 100, and the overhead device 1 is divided by the second cross section 200, so that the positions of the first cross section 100 or the second cross section 200 are determined, fig. 3 and 4 show the situation that the heights of the two adjacent overhead devices 1 are the same or different, no matter the height difference, the first cross section 100 is always vertical, and the difference is that the distance between the adjacent first cross sections 100 is not completely different. The flight paths in fig. 7 and 8, whether in the first cross section 100 or the second cross section 200, fly in the same order, e.g., from bottom to top, from left to right, and then from top to bottom, sequentially across each horizontal segment of a straight line, a broken line, or a curve, and if there is a gap between the end points of adjacent straight lines, broken lines, or curves, they can be connected by straight lines or curves to maintain continuity; the end points of the straight line, the broken line or the curve are distribution positions of the characteristic points, namely, the path planning unit 5 defines coordinates of the flight path of the unmanned aerial vehicle from the section position and two dimensions of the flight path in the section.
The measuring unit 6 is fixedly arranged on the unmanned aerial vehicle, moves along the flight track along with the unmanned aerial vehicle, and acquires the electric field intensity and the magnetic field intensity measured value on the flight track; the unmanned aerial vehicle drives the measuring unit 6 to carry out the typing of accurate position, provides the accurate measurement of electric field intensity and magnetic field intensity. The measuring unit 6 in the scheme is an EHP-50F low-frequency electromagnetic radiation analyzer. The analyzer is an analyzer for measuring low-frequency electromagnetic radiation of Germany NARDA company, is provided with an electric field sensor and a magnetic field sensor for three-dimensional omnidirectional measurement, and can perform frequency-selective measurement and non-directional measurement on the electric field and the magnetic field.
The output unit 7 compares and outputs the calculated value of the electromagnetic radiation, the measured value of the electric field strength and the measured value of the magnetic field strength according to the electromagnetic radiation provided by the calculating unit 4 and the measuring unit 6. The output unit 7 outputs the measured electric field intensity or magnetic field intensity according to the flight trajectory in each of the first cross section 100 or the second cross section 200; the output unit 7 also feeds back coordinates of the world coordinate system having the same electric field strength or magnetic field strength in the same first cross section 100 or second cross section 200 to the path planning unit 5, and the path planning unit 5 extracts new feature points from the fed-back coordinates having the same electric field strength or magnetic field strength to correct the flight trajectory in the first cross section 100 or second cross section 200. The corrected flight path mentioned here is that after obtaining the actual distribution rule of the electric field intensity and the magnetic field intensity, the theoretical electric field intensity or magnetic field intensity distribution situation around the three-dimensional model is obtained by combining the measured values of the electric field intensity and the magnetic field intensity on the flight path and the calculating unit 4, according to the actual measurement situation, the boundary characteristic points of the lower limit electric field intensity and the lower limit magnetic field intensity which are harmful to the human body and the world coordinate system coordinates thereof, during the subsequent measurement, the electric field intensity or the magnetic field intensity at the boundary characteristic points on the positive first section 100 or the second section 200 can be only detected, so that whether the electric field intensity or the magnetic field intensity near the power transmission line 2 changes or not can be known, whether the surrounding environment or the human body is damaged or not can be known, and a certain protection area is set. As shown in fig. 7-10, the planned flight trajectories within the first section 100 or the second section 200 may be similar or different, except that the flight trajectories within the second section 200 need to avoid both the transmission line 2 and the overhead device 1, with the symmetrical planned flight trajectories on either side of the centerline of the overhead device 1 being spaced further apart.
In the scheme, the calculating unit 4 solves the electric field intensity of each position of the flight track in the first section 100 or the second section 200 of the overhead equipment 1 and each power transmission line 2 according to the superposition principle; the magnetic field strength at each position of the flight trajectory within the first section 100 or the second section 200 at the overhead device 1 and each transmission line 2 is solved according to ampere's law. Specifically, the alternating voltage frequency in the high-voltage transmission line 2 is very low, usually 50Hz to 60Hz, and the calculating unit 4 calculates the electric field intensity on the flight trajectory in the first cross section 100 or the second cross section 200 of the overhead device 1 and each transmission line 2, and calculates the maximum value of the ground field intensity by using the mirror image charge method, so that any one of the conducting wires on the first cross section 100 or the second cross section 200 is enabled to be conductiveiIs known, at any point in the first cross-section 100 or the second cross-section 200P（x，y）Has an electric field strength of
(ii) a Whereinx i Andy i are respectively a conducting wireiThe abscissa and ordinate on the first cross section 100 or the second cross section 200,Q i is a wireiThe charge on the surface of the substrate,
is the dielectric constant; conducting wireiMirror charge of-Q at pointP（x，y）The strength of the electric field generated is
At the point of the conductor i and its mirror conductorP（x，y）The strength of the electric field generated is
(ii) a According to the superposition principle, the m conductors on the overhead equipment 1 generate an electric field intensity component of P (x, y)
；
(ii) a Final electric field strengthEIs composed of
。
Because the magnetic field of the power transmission line 2 is generated only by current, the ampere law is applied, the magnetic field intensity around the wire can be obtained, the influence of the mirror image of the wire is ignored, and the magnetic field intensity of any point around one wire can be obtainedHIs composed of
Here, theIIn order to be able to measure the current in the conductor,hthe vertical distance between the wire and the point,Lthe horizontal distance between the point and the conducting wire; for a three-phase ac transmission line, it is necessary to perform vector synthesis on the magnetic fields generated by the respective phase currents in phase. Because the calculation belongs to theoretical calculation, the calculation cannot be completely consistent with the actual situation of the site, and the situation that conductors exist around a power transmission line is not considered, and the calculation is only used as a reference value to be involved in the route planning of the flight of the unmanned aerial vehicle. The flight path of the unmanned aerial vehicle can be layered according to the result of theoretical calculation, such as off-lineThe closer the electric field intensity or the magnetic field intensity is, the more compact the flight track of the unmanned aerial vehicle is; on the contrary, the position far away from the wire, the smaller the electric field intensity or the magnetic field intensity is, the slower the electric field intensity and the magnetic field intensity are attenuated, and the flying track of the unmanned aerial vehicle can be set more loosely.
The detection method specifically comprises the following steps:
s1: as shown in fig. 1 and 2, establishing a high-voltage transmission electromagnetic radiation detection system, configuring and initializing a modeling unit 3, a calculating unit 4, a path planning unit 5, a measuring unit 6 and an output unit 7; setting a flight path in the initial first section 100 or the second section 200 for the path planning unit 5, wherein the flight path is symmetrically arranged relative to the longitudinal central axis of the overhead device 1 or the transmission line 2;
s2: the modeling unit 3 carries out modeling according to the altitude position of the adjacent overhead equipment 1, the actual height of the overhead equipment 1 and the suspension degree of the transmission line 2, establishes a three-dimensional model in a world coordinate system, and divides the three-dimensional model into a plurality of first sections 100 and second sections 200 respectively; the transmission line 2 is a parabola with an upward opening between the adjacent overhead devices 1, a closed graph is formed by encircling a connecting line of the opening side of the parabola and the intersection point of the two overhead devices 1, for example, the parabola is in a bow shape, as shown in fig. 3 or 4, the closed graph is divided in an equal area by adopting a plurality of first cross sections 100 which are parallel and arranged at intervals, each first cross section 100 is perpendicular to the surface where the closed graph is located, each first cross section 100 is perpendicular to the ground, and the intervals between the adjacent first cross sections 100 are not identical; with the longitudinal center plane of the overhead device 1 as a reference, a plurality of equidistant planes are arranged on two sides of the longitudinal center plane of the overhead device 1 in an equidistant distribution manner, and the longitudinal center plane of the overhead device 1 and each equidistant plane on the overhead device 1 are taken as a second cross section 200.
S3: the calculation unit 4 solves the electric field intensity and the magnetic field intensity on the flight trajectory in the first section 100 or the second section 200 at the overhead device 1 and each transmission line 2; theoretical electric field intensity is calculated by adopting the calculation formulaEAnd the intensity of the magnetic fieldHCalculating (1);
s4: setting characteristic points in each first section 100, acquiring coordinates of the characteristic points in a world coordinate system, sequentially connecting the characteristic points of each first section 100 to form a flight track, presetting second characteristic points in a second section 200, acquiring coordinates of the second characteristic points in the world coordinate system, sequentially connecting the second characteristic points of each second section 200 to form a flight track, enabling the unmanned aerial vehicle to move according to the set flight tracks in the sections, and driving the measuring unit 6 to detect the electric field intensity or the magnetic field intensity; a circular point on a path defined by the flight trajectory of the first section 100 or the second section 200 in fig. 7 and 8 is a feature point;
as shown in fig. 7 and 10, in the first embodiment, the characteristic points set in each first section 100 are that the path planning unit 5 constructs a plurality of horizontal straight lines arranged at intervals around the power transmission line 2 in the first section 100, the distance between the straight lines close to the power transmission line 2 is smaller than that between the straight lines far away from the power transmission line 2, two end points of each straight line and points on the straight lines, that is, the characteristic points in the first section 100, and the end points between adjacent straight lines are connected and adjacent by straight lines or curved lines to obtain a complete flight trajectory; the characteristic points are preset in the second section 200, a plurality of horizontal straight lines are constructed in the second section 200, each straight line is arranged around the power transmission line 2 and the overhead equipment 1, the distances between every two adjacent straight lines are not completely the same, and the two end points of each straight line and the points on the straight lines are the characteristic points in the second section 200; the adjacent end points of each straight line in the second cross section 200 are connected end to form the flight path in the second cross section 200.
As shown in fig. 8, in another embodiment, the difference between this embodiment and the first embodiment is that the feature points set in each first section 100 are that the path planning unit 5 constructs a plurality of broken lines arranged at intervals in the first section 100, and the end points of the broken lines and the points on the broken lines are the feature points in the first section, and the end points of the adjacent broken lines are smoothly connected to form a complete flight trajectory in the first section; similarly, the path planning unit 5 constructs a plurality of broken lines arranged at intervals in the second cross section 200, and the endpoints of the broken lines and the points on the broken lines are characteristic points in the second cross section, and smoothly connects the endpoints of the adjacent broken lines to form a complete flight trajectory in the second cross section. Note that the pitches between adjacent folding lines are not exactly the same.
As shown in fig. 9, in the third embodiment, the path planning unit 5 constructs a plurality of concentric arcs with the equivalent center of the transmission line 2 as the center of a circle, and the end points of each arc and the points on the arcs in the first cross section 100 or the second cross section 200 are feature points; the angles of central angles formed by connecting the circular arcs with the circle center are not completely the same; the end points of the circular arcs are connected in sequence in the first cross section 100 or the second cross section 200 to form the flight path in the first cross section 100 or the second cross section 200. Of course, the circular arc here is only one of the curved forms, and a spline curve or a parabola is also possible.
S5: acquiring characteristic points on the flight trajectories in the first cross section 100 or the second cross section 200 with the same electric field intensity or magnetic field intensity at different flight heights in the flight trajectories in the first cross section 100 or the second cross section 200 respectively, and acquiring coordinates of a world coordinate system of the characteristic points on the flight trajectories; and transmits the electric field intensity, the magnetic field intensity, or the coordinates of the world coordinate system of the characteristic points on the flight trajectory within the first cross section 100 or the second cross section 200 having the same electric field intensity or magnetic field intensity to the output unit 7 and the path planning unit 5, respectively. The output unit 7 may output and display the electric field intensity, the magnetic field intensity, or the coordinates of the world coordinate system of the feature point. The path planning unit 5 receives the electric field intensity, the magnetic field intensity, or the coordinates of the world coordinate system of the feature point, and then executes step S6.
S6: the path planning unit 5 optimizes the characteristic points after receiving the points on the flight trajectories in the first cross section 100 or the second cross section 200 with the same electric field intensity or magnetic field intensity fed back by the measuring unit 6, forms a smooth curve from the points on the flight trajectories with the same electric field intensity or magnetic field intensity in the first cross section 100 or the second cross section 200, uses the smooth curve as the flight trajectory in the optimized first cross section 100 or the optimized second cross section 200, stores the optimized flight trajectory and the current season or the test period as the reference information, and sets the flight trajectory in a smooth curve type according to the curve of the surrounding power transmission line shown in fig. 11 or fig. 12, and connects the electric field intensity equipotential lines or the magnetic field intensity equipotential lines on the adjacent first cross section 100 or the adjacent second cross section 200 to form a smooth curved surface shape.
The optimization of the feature points simultaneously satisfies the following criteria:
1) At least two characteristic points with the same electric field intensity or magnetic field intensity are reserved on different straight lines, broken lines or curves at the same height; at least two characteristic points with the same electric field intensity or magnetic field intensity are reserved on the planned flight path of the second section at the same height;
2) Connecting characteristic points or calculated value corresponding points with the same electric field intensity or magnetic field intensity on different first sections 100 or second sections 200 by adopting a curve; the regions between the adjacent characteristic points or between the adjacent characteristic points and the calculated value corresponding points are smoothly connected in an interpolation mode, the characteristic points or the calculated value corresponding points with the same electric field intensity or magnetic field intensity on the adjacent first section 100 or second section 200 are spliced to form a smooth electric field intensity trend graph and a smooth magnetic field intensity trend graph, and the characteristic points deviating from the electric field intensity trend graph or the magnetic field intensity trend graph or the calculated value corresponding points acquired by the calculating unit 4 are removed; most of characteristic points and calculated values outside the curved surface form, namely the characteristic points or the calculated values which are less than the lower limit electric field intensity or the magnetic field intensity causing harm to human bodies, can be abandoned; the premise of abandoning the characteristic points and the calculated values is that the distance from the corresponding point of the characteristic point or the calculated value to the electric field intensity trend graph or the magnetic field intensity trend graph is solved and exceeds more than 5 times of the equivalent diameter of the power transmission line 2;
3) The area of the enclosed region between the boundary of the curve formed in the first section 100 or the second section 200 and the ground with the lower-limit electric field intensity harmful to the human body is not less than 65% of the product of the abscissa span and the ordinate span of the curve; or the area of a curve enclosing area formed by the magnetic field intensity in the first section 100 or the second section 200 is not less than 90% of the product of the abscissa span and the ordinate span of the curve;
4) The maximum value of the projection area of the boundary of the smooth electric field intensity trend graph formed in each first section 100 or second section 200 of the lower limit electric field intensity harmful to the human body on the ground is not more than 8 times of the projection area of the horizontal width space area of the power transmission line on the adjacent overhead equipment 1 on the ground; the maximum value of the projected area of the boundary of the smooth magnetic field intensity trend graph formed in each first section 100 or second section 200 in the ground of the lower limit magnetic field intensity harmful to the human body is not more than 6 times of the projected area of the horizontal width spacing area of the power transmission line on the adjacent overhead equipment 1 in the ground.
The above-mentioned 3) and 4) are considered from the aspects of protection reliability and overhead equipment economy, that is, the electric field intensity equipotential lines or the magnetic field intensity equipotential lines are connected to form a smooth curved surface shape which should fully cover a certain area around the overhead equipment and the transmission line, generally, the higher the overhead equipment is, the smaller the low influence is, the smaller the ground protection area is, the smaller the occupied land area is, but the problem of the whole overhead equipment cost is increased, so the relationship between the ground electromagnetic radiation protection area and the overhead equipment height is indirectly restricted through the projection area.
S7: during subsequent measurement, a plurality of optimized flight trajectories in the first section 100 or the second section 200 are randomly selected, the unmanned aerial vehicle drives the measurement unit 6 to perform actual measurement, an actual measurement value is obtained and compared with reference information, and the deviation degree of the actual measurement value and the reference information is judged to evaluate whether the electric field or the magnetic field around the power transmission line 2 is obviously changed, so that the protection area range around the overhead equipment and the power transmission line is adjusted, and people are prevented from entering the protection area range by mistake.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (5)
1. A high-voltage transmission electromagnetic radiation detection method is characterized by comprising the following steps:
s1: a modeling unit (3), a calculating unit (4), a path planning unit (5), a measuring unit (6) and an output unit (7) are configured and initialized;
s2: the modeling unit (3) carries out modeling according to the altitude position of the adjacent overhead equipment (1), the actual height of the overhead equipment (1) and the overhung degree of the power transmission line (2), a three-dimensional model located in a world coordinate system is established, and the path planning unit (5) divides the three-dimensional model into a first section (100) and a second section (200) respectively;
s3: the calculation unit (4) solves the theoretical electric field intensity and the magnetic field intensity in a first section (100) or a second section (200) on the three-dimensional models of the overhead equipment (1) and each transmission line (2);
s4: the path planning unit (5) selects characteristic points in each first section (100) or second section (200) and plans the flight track of the unmanned aerial vehicle, so that the unmanned aerial vehicle moves according to the set flight track in each section and drives the measuring unit (6) to detect the electric field intensity or the magnetic field intensity;
s5: acquiring characteristic points on the flight paths in the first cross section (100) or the second cross section (200) with the same electric field intensity or magnetic field intensity at different flight heights in the flight paths in the first cross section (100) or the second cross section (200) respectively, and acquiring coordinates of a world coordinate system of the characteristic points on the flight paths; respectively sending the electric field intensity, the magnetic field intensity or the coordinates of a world coordinate system of the characteristic points on the flight path in the first cross section (100) or the second cross section (200) with the same electric field intensity or magnetic field intensity to an output unit (7) and a path planning unit (5);
s6: the path planning unit (5) optimizes the characteristic points in the first section (100) or the second section (200), and stores the optimized flight path and the current season or the test time period as reference information;
s2, the path planning unit (5) divides the three-dimensional model into a first section (100) and a second section (200) respectively, the power transmission line (2) is made to be a parabola with an upward opening between adjacent overhead devices (1), a closed graph is formed by encircling a connecting line of the opening side of the parabola and an intersection point of the two overhead devices (1), a plurality of first sections (100) which are parallel and arranged at intervals are arranged to divide the closed graph in an equal area, each first section (100) is perpendicular to the plane of the closed graph, and each first section (100) is perpendicular to the ground plane; setting a plurality of equidistant planes on two sides of the longitudinal central plane of the overhead device (1) in an equidistant distribution mode by taking the longitudinal central plane of the overhead device (1) as a reference, and taking the longitudinal central plane of the overhead device (1) and each equidistant plane on the overhead device (1) as a second section (200);
s4, selecting feature points in each first section (100) or each second section (200) and planning the flight trajectory of the unmanned aerial vehicle by the path planning unit (5), wherein discrete points are selected as the feature points in a mode of alternately changing or simultaneously changing the horizontal coordinate and the vertical coordinate in a plane in which the first section (100) or the second section (200) is located, and adjacent feature points are sequentially connected by adopting a straight line, a broken line or a curve to form the flight trajectory of the unmanned aerial vehicle in the first section (100) or the second section (200); the distances or included angles between adjacent straight lines, broken lines or curves forming the flight trajectory are not completely the same;
s6, the path planning unit (5) optimizes the characteristic points in the first cross section (100) or the second cross section (200), respectively transmits the electric field intensity, the magnetic field intensity or the world coordinate system coordinates of the characteristic points in each first cross section (100) or second cross section (200) measured by the measuring unit (6) and the theoretical electric field intensity and the magnetic field intensity of the world coordinate system coordinates corresponding to the characteristic points by the calculating unit (4) to the path planning unit (5), and optimizes the characteristic points when the following criteria are simultaneously met:
1) At least two characteristic points with the same electric field intensity or magnetic field intensity are reserved on different straight lines, broken lines or curves at the same height;
2) Connecting characteristic points or calculated value corresponding points with the same electric field intensity or magnetic field intensity on different first cross sections (100) or second cross sections (200) by adopting a curve; the regions between the adjacent characteristic points or between the adjacent characteristic points and the corresponding points of the calculated values are smoothly connected in an interpolation mode, the characteristic points or the corresponding points of the calculated values with the same electric field intensity or magnetic field intensity on the adjacent first section (100) or second section (200) are spliced to form a smooth electric field intensity trend graph and a smooth magnetic field intensity trend graph, and the characteristic points or the corresponding points of the calculated values acquired by a calculating unit (4) deviating from the electric field intensity trend graph or the magnetic field intensity trend graph are removed;
3) The area of a boundary of a curve formed in the first section (100) or the second section (200) by using the lower-limit electric field intensity harmful to a human body and a ground surrounding area is not less than 65% of the product of the abscissa span and the ordinate span of the curve; or the area of a curve encircled area formed by the magnetic field intensity in the first section (100) or the second section (200) is not less than 90% of the product of the abscissa span and the ordinate span of the curve;
4) The maximum value of the projection area of the boundary of the smooth electric field intensity trend graph formed in each first section (100) or second section (200) by the lower limit electric field intensity harmful to human bodies on the ground is not more than 8 times of the projection area of the horizontal width spacing area of the power transmission line on the adjacent overhead equipment (1) on the ground; the maximum value of the projection area of the boundary of a smooth magnetic field intensity trend graph formed in each first cross section (100) or second cross section (200) of the lower limit magnetic field intensity harmful to the human body on the ground is not more than 6 times of the projection area of the horizontal width interval area of the power transmission line on the adjacent overhead equipment (1) on the ground.
2. The high-voltage transmission electromagnetic radiation detection method according to claim 1, further comprising step S7: randomly selecting a plurality of optimized flight tracks in the first cross section (100) or the second cross section (200), driving a measuring unit (6) by an unmanned aerial vehicle to carry out actual measurement, acquiring an actual measurement value, comparing the actual measurement value with reference information, and judging the deviation degree of the actual measurement value and the reference information so as to evaluate whether the electric field or the magnetic field around the power transmission line (2) or the overhead equipment (1) is obviously changed.
3. The high-voltage transmission electromagnetic radiation detection method according to claim 1, characterized in that the measuring unit (6) is an EHP-50F low-frequency electromagnetic radiation analyzer.
4. A high-voltage transmission electromagnetic radiation detection system applying the high-voltage transmission electromagnetic radiation detection method according to any one of claims 1 to 3; the system comprises an unmanned aerial vehicle and a power transmission line (2) arranged between adjacent overhead devices (1), and is characterized by further comprising a modeling unit (3), a calculating unit (4), a path planning unit (5), a measuring unit (6) and an output unit (7);
the modeling unit (3) is used for constructing a three-dimensional model of two adjacent overhead devices (1) and the transmission line (2) between the two adjacent overhead devices;
the calculation unit (4) is used for obtaining an electromagnetic radiation calculation value of the peripheral area of the three-dimensional model according to the three-dimensional model constructed by the modeling unit (3) and the parameters of the power transmission line (2); the calculation unit (4) is used for acquiring the theoretical electric field intensity or magnetic field intensity distribution condition around the three-dimensional model;
the path planning unit (5) is used for dividing the three-dimensional model into a plurality of sections, planning the flight path of the unmanned aerial vehicle in each section and sending the flight path to the unmanned aerial vehicle; the path planning unit (5) also optimizes the characteristic points in the first section (100) or the second section (200);
the measuring unit (6) is fixedly arranged on the unmanned aerial vehicle, moves along a flight track along with the unmanned aerial vehicle, and acquires electric field intensity and magnetic field intensity measured values on the flight track;
and the output unit (7) compares and outputs the calculated value of the electromagnetic radiation, the measured value of the electric field intensity and the measured value of the magnetic field intensity according to the electromagnetic radiation provided by the calculating unit (4) and the measuring unit (6).
5. A high voltage transmission electromagnetic radiation detection system according to claim 4, characterized in that the calculation unit (4) solves the electric field strength at each location of the flight trajectory within the first (100) or second (200) cross section at the overhead installation (1) and each transmission line (2) according to the superposition principle; the magnetic field strength at each position of the flight path within the first section (100) or the second section (200) at the overhead installation (1) and at each transmission line (2) is solved according to ampere's law.
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