CN115562343A - Method and system for determining safety distance of unmanned aerial vehicle routing inspection power transformation equipment - Google Patents
Method and system for determining safety distance of unmanned aerial vehicle routing inspection power transformation equipment Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicle routing inspection, and discloses a method and a system for determining the safety distance of substation equipment during unmanned aerial vehicle routing inspection, wherein the method comprises the following steps: establishing a three-dimensional simulation model of the unmanned aerial vehicle and the power transformation equipment; performing space time harmonic electric field simulation on the three-dimensional simulation model, extracting potential results of equipment and the unmanned aerial vehicle at different positions and distances of the unmanned aerial vehicle, acquiring the maximum potential difference between the unmanned aerial vehicle and the equipment by combining an analytic method, and determining the critical distance d under the electric field criterion E (ii) a And extracting the magnetic induction intensity distribution results of different positions, obtaining the maximum magnetic induction intensity distribution of different positions by combining an analytical method, and determining the critical distance d under the magnetic field criterion B (ii) a Considering various influencing factors, and determining comprehensive critical distance d under electric field and magnetic field criteria L On the basis of the above-mentioned data, the early-warning distance d is analyzed and determined Y The surrounding space area of the device is divided into a no-fly area, a dangerous area and a safe area. The invention solves the problemsThe problem that the safety distance positioning accuracy is lower in the existing unmanned aerial vehicle inspection mode is solved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle routing inspection, in particular to a method and a system for determining the safety distance of substation equipment during unmanned aerial vehicle routing inspection.
Background
After the transformer substation equipment runs for a long time, equipment faults such as insulation aging damage, temperature abnormity and the like inevitably occur, the transformer substation equipment is dense, the conventional manual inspection speed is low, the labor intensity is high, and efficient and high-quality inspection of equipment fault defects cannot be realized.
In recent years, unmanned aerial vehicles are widely applied to various industries, and by virtue of the characteristics of high maneuverability, delicate machine body and the like, the unmanned aerial vehicles have the advantages of approaching observation, eliminating visual dead angles, improving inspection speed, carrying various detection devices and the like in substation equipment inspection. However, equipment is complicated in the transformer substation, and the existence can produce the electromagnetic radiation of serious interference to unmanned aerial vehicle, and unmanned aerial vehicle invasion strong electric field environment still probably causes the problem such as clearance discharge simultaneously, consequently researches unmanned aerial vehicle flight safety under electric field and magnetic field environment, avoids among the unmanned aerial vehicle operation process out of control or causes the discharge accident to be the prerequisite that unmanned aerial vehicle was applied to the transformer substation and patrols and examines.
Along with the development of electromagnetic compatibility technology, the ability of unmanned aerial vehicle measurement and control function anti-electromagnetic interference has had obvious promotion, and typical professional unmanned aerial vehicle has possessed the ability of working under complicated electromagnetic environment, for example longitude and latitude M300 RTK under strong electric field environment, before unmanned aerial vehicle and equipment clearance take place to puncture and discharge, unmanned aerial vehicle measurement and control function did not receive obvious influence, through the experiment, its tolerance limit value to strong magnetic field can reach 303 mu T.
At present, unmanned aerial vehicle has extensively used in the operation and maintenance of transmission line and maintenance, and safe distance research is more, can know unmanned aerial vehicle when being close high-tension line or equipment, and unmanned aerial vehicle is easily influenced by factors such as the radio interference that the equipment produced, magnetic field, corona produced to lead to unmanned aerial vehicle's observing and controlling function unusual, present current electric power standard also patrols and examines transmission line's safe distance to unmanned aerial vehicle and has carried out the regulation. However, the unmanned aerial vehicle model based on which the existing power transmission line related research is based is different from the unmanned aerial vehicle model used for substation inspection, the anti-interference performance of the existing adopted unmanned aerial vehicle is obviously improved, the complex and compact equipment arrangement of the substation is different from the electromagnetic environment generated by overhead erection of the power transmission line, and the safety distance judgment method needs to be improved. At present, quantitative research on the routing inspection safety distance of the unmanned aerial vehicle for the high-voltage equipment of the transformer substation is less, research on the aspect of routing inspection safety distance of the unmanned aerial vehicle for the transformer substation is not perfect, and a mature and effective safety distance calculating and setting method is lacked.
Chinese patent 201210044124.0 discloses a method for detecting the safe distance of power line patrol of an unmanned aerial vehicle, wherein simulation calculation of the method aims at an electric field and a magnetic field around a power transmission line, and the safe distance is determined based on the electric field strength and the magnetic field strength which can be endured by normal work of electronic equipment on the unmanned aerial vehicle; chinese patent 201910772832.8 discloses a method for determining the safety distance between an overhead transmission line and a civil unmanned aerial vehicle, which combines various overhead transmission line and civil unmanned aerial vehicle safety distance determining factors and provides a safety distance limit value determining method based on an information fusion algorithm, wherein the determination of the safety distance is based on the electric insulation safety distance and corona radio interference in the design specification of the transmission line, and the influence of various factors including the flight speed, the speed change duration, the speed change direction and the hovering positioning precision of the unmanned aerial vehicle on the braking distance of the unmanned aerial vehicle.
Disclosure of Invention
The invention provides a method and a system for determining the safe distance of substation equipment in unmanned aerial vehicle inspection, which aim to solve the problem of low safe distance positioning precision in the conventional unmanned aerial vehicle inspection mode.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the invention provides a method for determining the safe distance of an unmanned aerial vehicle routing inspection power transformation device, which comprises the following steps:
Optionally, in step 2, real and imaginary components of the positioning complex solution of the device and the unmanned aerial vehicle are obtained through space time harmonic electric field simulation, a phasor representation form of potentials of the unmanned aerial vehicle and the device is obtained, and when the characteristics of the harmonic field quantity are combined, the maximum potential difference between the unmanned aerial vehicle and a certain phase of the device is determined as follows:
in the formula: u shape ADm Is the potential difference between the unmanned aerial vehicle and a certain phase of the equipment,
the real part of the potential is loaded for a certain phase,
is the real part of the potential complex solution of the unmanned aerial vehicle,
the imaginary part of the potential is loaded for a certain phase,
an imaginary part of unmanned aerial vehicle potential complex solution;
the critical distance can be judged by comparing the maximum potential difference between each phase of the unmanned aerial vehicle and the equipment with the electric field criterion, and the maximum value of the critical distance when the unmanned aerial vehicle approaches the equipment according to different paths is taken as the critical distance d under the electric field criterion E 。
Optionally, the electric field criterion in step 2 selects a breakdown voltage of a typical rod-plate gap when the distance between the drone and the device is the same.
Optionally, in step 3, the real and imaginary components of the complex solution of the magnetic induction intensity at different positions in the three directions x, y and z are obtained through space time harmonic magnetic field simulation, and the phasor representation forms of the components of the magnetic induction intensity in different directions are obtained by combining the characteristics of the harmonic field quantity, so as to obtain the expression of the magnetic induction intensity along with time:
in the formula: b is xm And phi x 、B Ym And phi y 、B zm And phi z Respectively representing the peak value and the phase angle of components in three directions of magnetic induction intensity x, y and z, wherein B represents the magnetic induction intensity;
obtaining the maximum value of B through calculation, thereby obtaining the maximum magnetic induction intensity of different paths at different positions;
comparing the obtained maximum magnetic induction intensities of different paths at different positions with a magnetic field criterion to obtain the critical distances of the different paths, and selecting the maximum value as the critical distance d under the magnetic field criterion B 。
Optionally, in step 3, the magnetic field criterion is a power frequency magnetic field tolerance value of a main component of the unmanned aerial vehicle obtained through a test.
Optionally, the influencing factors in step 4 include, but are not limited to, positioning errors, remote control errors, errors caused by strong electromagnetic interference of the transformer substation, gusts, detection requirements of the mounted equipment, voltage and current fluctuation of the transformer substation during operation, and atmospheric conditions.
Optionally, the comprehensive critical distance under the criterion of the electric field and the magnetic field is:
d L ＝max{k 1E d E ,k 1B d B }；
in the formula: k is a radical of 1E Expressing the influence factors of the operating voltage fluctuation and the atmospheric condition of the transformer substation on the critical distance under the electric field criterion, k 1B Representing the influence of the operating current fluctuations on the critical distance under the magnetic field criterion, d L Denotes the integrated critical distance, d E Represents the critical distance, d, under the electric field criterion B Representing the critical distance under the magnetic field criterion;
comprehensively considering the relevance of each influence factor to determine the early warning distance:
d Y ＝max{k 1E d E ,k 1B d B }+k 2 (d 1 +d 2 )+d 3 +Δd；
in the formula: d Y Indicates the warning distance, d 1 For uncertain distance due to positioning error, d 2 Remote control buffer uncertainty distance, d, generated for signal delay 3 For uncertain offset distance due to gust, Δ d carries different detections for unmanned aerial vehicleRequirement for distance at the time of installation, k 2 Influence factor, k, of larger error on distance generated by strong electromagnetic interference and signal shielding of transformer substation on unmanned aerial vehicle than normal condition 2 Main pair d 1 And d 2 An influence is produced.
Optionally, the area within the comprehensive critical distance of each direction is divided into a no-fly area, the area within the early warning distance of each direction and outside the comprehensive critical distance is divided into a dangerous area, the area outside the early warning distance of each direction is divided into a safe area, and the unmanned aerial vehicle inspection operation area suggestion is provided by combining the interval distance of the power transformation equipment.
In a second aspect, an embodiment of the present application provides a system for determining a safe distance of a substation equipment during routing inspection of an unmanned aerial vehicle, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of any one of the methods in the first aspect when executing the computer program.
Has the advantages that:
the invention provides a method for determining the safe distance of an unmanned aerial vehicle inspection power transformation device, which is based on the complex device arrangement and the electromagnetic environment of a transformer substation and the anti-electromagnetic interference capability of a typical unmanned aerial vehicle at present, provides a method for calculating the maximum potential difference and the maximum magnetic induction intensity by respectively using the breakdown voltage between the unmanned aerial vehicle and the device and the maximum magnetic induction intensity which can be endured by the unmanned aerial vehicle as electric field and magnetic field criteria, adopts a form of combining a finite element method and an analytic method, and provides a method for calculating the maximum potential difference and the maximum magnetic induction intensity based on the characteristics of time harmonic field quantity, and comprehensively considers the influence factors of the unmanned aerial vehicle inspection.
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Fig. 1 is a flowchart of a method for determining a safe distance of an unmanned aerial vehicle routing inspection power transformation device according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a method for determining the safe distance of the unmanned aerial vehicle routing inspection substation equipment according to the embodiment of the invention;
fig. 3 is a simplified computational model of a typical drone and a substation device provided by an embodiment of the present invention;
fig. 4 is a potential phasor diagram of each phase conductor and the unmanned aerial vehicle provided by the embodiment of the present invention;
FIG. 5 is a cloud diagram (real result) of potential distribution of the device provided by the embodiment of the present invention; wherein, (a) is the potential distribution cloud picture of the whole model, and (b) is a local enlarged view;
FIG. 6 is a schematic diagram of a path and a graph of magnetic induction variation provided by an embodiment of the present invention; wherein, (a) is a plurality of typical path schematic diagrams, and (b) is a variation curve of the maximum magnetic induction intensity on the path 1;
FIG. 7 is a cloud of cross-sectional maximum magnetic induction distributions provided by an embodiment of the present invention; wherein, (a) is the maximum magnetic induction intensity distribution cloud picture of the section perpendicular to the axial direction of the conductor, and (b) is the maximum magnetic induction intensity distribution cloud picture of the vertical section coincident with the axial direction of the conductor;
fig. 8 is a schematic diagram of safe distance and area division according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention are described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
Referring to fig. 1 to 8, an embodiment of the present application provides a method for determining a safe distance of an unmanned aerial vehicle routing inspection substation device, including the following steps:
1. model building
Establishing a three-dimensional simulation model of the unmanned aerial vehicle and the power transformation equipment with different voltage levels by combining the distribution characteristics of the electromagnetic field around the power transformation equipment; in this embodiment, a 110kV main transformer incoming line interval building equipment simplification model shown in fig. 3 is selected, a typical model longitude and latitude M300 RTK is used as a research object, the power transformation equipment mainly includes an LW35-126 SF6 circuit breaker, a GW5-126 disconnecting switch, an LVB-126 oil-immersed inverted current transformer, and the like, and is reasonably simplified according to the actual equipment of the transformer substation, and is modeled by adopting a regular structure, so that structures with small influence on electric potential and magnetic induction intensity, such as gaps, bolts, an operating mechanism, and the like, are deleted.
2. Critical distance calculation
The electric field criterion is selected to be the breakdown voltage of a typical rod-plate gap when the distance between the unmanned aerial vehicle and the equipment is the same, and the magnetic field criterion is the power frequency magnetic field tolerance value of the main components of the unmanned aerial vehicle obtained through the test. Through experimental verification, the discharge voltage between the longitude and latitude M300 RTK and high-voltage equipment is close to and higher than the breakdown voltage of a typical rod-plate gap, the criterion can be adopted as an electric field criterion, a certain margin exists, and the critical tolerance value of the magnetic induction intensity of the main body position (not including a frame) of the longitude and latitude M300 RTK is 303 mu T.
2.1 critical distance under electric field criterion
Performing space time harmonic electric field simulation on the three-dimensional simulation model established in the step 1 by using electromagnetic field simulation software, extracting potential results of equipment and the unmanned aerial vehicle at different positions and distances of the unmanned aerial vehicle, acquiring the maximum potential difference between the unmanned aerial vehicle and the equipment by combining an analytic method, and determining the critical distance d under the electric field criterion E ；
In this embodiment, the unmanned aerial vehicle is arranged around the equipment in the horizontal and vertical directions, so that the unmanned aerial vehicle approaches the equipment along a straight path, and considering that the longitude and latitude M300 RTK adopts a carbon fiber material, the potential of the unmanned aerial vehicle is coupled, the equipment voltage is set to 121kV (line voltage, effective value), the time harmonic electric field is calculated, according to the real part result and imaginary part result of the complex solution, A, B, C three phases (phase difference is 120 °) and the potential of the unmanned aerial vehicle is as shown in fig. 4, the maximum potential difference between the unmanned aerial vehicle and each phase of the equipment is the amplitude of UA, UB, UC, which is described by taking phase a as an example, and the maximum voltage difference between the unmanned aerial vehicle and phase a of the equipment, namely the amplitude of UA, is calculated as follows:
in the formula: u shape ADm Is the potential difference between the unmanned aerial vehicle and the equipment A,
the real part of the loading potential of the a phase,
is the real part of the potential complex solution of the unmanned aerial vehicle,
the imaginary part of the potential is applied to phase a,
an imaginary part of unmanned aerial vehicle potential complex solution;
the calculation method of the maximum voltage difference between the unmanned aerial vehicle and the device B, C is the same as that of the phase A; after the maximum potential difference between each phase of the unmanned aerial vehicle and the equipment is obtained through the calculation method, the maximum potential difference is compared with an electric field criterion to obtain the critical distance of the unmanned aerial vehicle approaching the equipment, then the unmanned aerial vehicle approaches different equipment through different paths such as vertical upward, vertical downward, horizontal approaching and the like, and the maximum value of the critical distance of each different equipment is taken as the critical distance determined by the electric field under the voltage level.
Verified that the adjacent interval and the far equipment pair critical of the equipment of 110kV gradeThe influence of the distance is small, when the unmanned aerial vehicle approaches the isolating switch, the real part result of the potential is shown in fig. 5, wherein (a) is a potential distribution cloud picture of the whole model, and (b) is a local enlarged picture. Through calculation, the critical distance is within 10cm when the unmanned aerial vehicle approaches different equipment through different paths, so d E ＝10cm。
2.2 critical distance under magnetic field criterion
Performing space time-harmonic magnetic field simulation on the three-dimensional simulation model established in the step 1 by using electromagnetic field simulation software, extracting magnetic induction intensity distribution results at different positions, acquiring maximum magnetic induction intensity distribution at different positions by combining an analytical method, and determining a critical distance d under a magnetic field criterion B ；
The main material carbon fiber resistivity of longitude and latitude M300 RTK fuselage is bigger than good conductor and is difficult to be magnetized, therefore unmanned aerial vehicle is little to the influence of space magnetic field, can ignore insulating pillar etc. do not have the structure of influence to space magnetic field distribution during emulation. The device current is set to 858A (line current, effective value), the simulation calculation of the time-harmonic magnetic field is carried out, and the phasor representation forms of the components of the magnetic induction intensity in different directions are obtained according to the real part result and the imaginary part result of the complex solution, namely the real part and the imaginary part components of the magnetic induction intensity in x, y and z directions, and the characteristics of the harmonic field quantity are combined, so that the expression of the magnetic induction intensity along with time is obtained:
and acquiring the maximum value of the expression B by adopting a data analysis method, thereby obtaining the maximum magnetic induction intensity of different positions and different paths. The maximum magnetic induction intensity change curves on all paths shown in fig. 6 are obtained, wherein (a) is a schematic diagram of a plurality of typical paths, (b) is a change curve of the maximum magnetic induction intensity on a path 1, the change curve is compared with a magnetic field criterion to obtain the critical distance of the unmanned aerial vehicle on different paths, and the sectional maximum magnetic induction intensity distribution cloud chart shown in fig. 7 is combined, wherein (a) is a maximum magnetic induction intensity distribution cloud chart of a section perpendicular to the axial direction of a conductor, the cloud chart display range is reduced to facilitate observation, and (b) is a maximum magnetic induction intensity distribution cloud chart of a vertical section coincident with the axial direction of the conductor, the cloud chart displays an area where the maximum magnetic induction intensity is larger than the tolerance limit value of the unmanned aerial vehicle, and it can be found that the critical area is mainly around each phase current conductor, and the maximum value of the critical distance in each direction is taken as the critical distance determined by the magnetic field.
3. Early warning distance under influence of various factors
Considering various influencing factors, and determining comprehensive critical distance d under electric field and magnetic field criteria L On the basis, the early warning distance is analyzed and determined, and the space area around the equipment is divided into a no-fly area, a dangerous area and a safe area.
The influencing factors comprise positioning errors, remote control errors (operating personnel obstacle avoidance operation reaction time), errors generated by strong electromagnetic interference of the transformer substation, gusts, detection requirements of carrying equipment, transformer substation operation voltage and current fluctuation, atmospheric conditions and the like, and the comprehensive critical distance under electric field and magnetic field criteria is as follows:
d L ＝max{k 1E d E ,k 1B d B }；
in the formula: k is a radical of formula 1E Influence factor, k, of operating voltage fluctuation and atmospheric condition of transformer substation on critical distance under electric field criterion 1B The influence factor of the running current fluctuation on the critical distance under the magnetic field criterion.
Considering d E =10cm is significantly less than the safety distance under the magnetic field criterion, so d B The magnetic field distribution is a significant index of the critical distance and plays a role in determining the critical distance, the loading current is rated operating current during magnetic field calculation, and considering that the operating current of a transformer substation fluctuates and can influence the magnetic field distribution in the space, k is taken in the embodiment 1B 1.1, the actual operation current fluctuation condition in the transformer substation can be adjusted, and the influence of larger change of rated operation current on the critical distance caused by different transformer capacities in the same voltage class can be considered.
Comprehensively considering the relevance of each influence factor to determine the early warning distance:
d Y ＝k 1B d B +k 2 (d 1 +d 2 )+d 3 +Δd；
in the formula: d 1 For uncertain distance due to positioning error, d 2 Buffer uncertainty distance generated for signal delay, d 3 For uncertain offset distance due to gust, Δ d is the requirement for distance when the unmanned aerial vehicle carries different detection devices, k 2 The influence factor of the error generated by strong electromagnetic interference and signal shielding of the transformer substation on the unmanned aerial vehicle, which is larger than that in the normal condition, on the distance is shielded.
According to performance parameters of longitude and latitude M300 RTK, the positioning error is +/-0.1M, so that d1=10cm; assuming that the speed of the unmanned aerial vehicle is 0.5m/s when the unmanned aerial vehicle autonomously patrols according to the planned path, and the signal delay is 0.2s, d2=10cm; the maximum bearable wind speed of the longitude and latitude M300 RTK is 15M/s, and the unmanned aerial vehicle only inspects the transformer substation when the weather conditions are good, so that d3=0 in the example; an unmanned aerial vehicle is provided with a camera device for inspection, and the requirement on the distance is not high, so that delta d =0 in the example; taking the environmental conditions of the transformer substation into comprehensive consideration, k2=1.1 is taken.
To sum up, unmanned aerial vehicle level, vertical upwards, vertical decurrent safe distance are as shown in table 1, wherein, because of the main fuselage position that the position that unmanned aerial vehicle tolerance limit value corresponds is that the flight control component concentrates on the unmanned aerial vehicle fuselage, there is certain distance in the main fuselage apart from unmanned aerial vehicle outermost side, consequently d B A value in the horizontal direction corresponding to d B ' minus 42cm, d B A value of vertically downward direction is corresponding to d B ' minus 25cm.
TABLE 1 unmanned aerial vehicle patrol 110kV typical equipment safety distance
Considering that the probability that the unmanned aerial vehicle is patrolled to the inner side of the quasi-annular current path at a short distance is not great, the result in table 1 does not include that the unmanned aerial vehicle is positioned at the inner side of the quasi-annular current pathAccording to the simulation result, analysis and analysis are carried out, if the unmanned aerial vehicle approaches the inner side of the similar annular current path, the safety distance needs to be increased, and d needs to be increased for safety B ' increase by 2 times the normal case and recalculate the critical and early warning values.
According to the analysis result, the space area is divided into a no-fly area, a dangerous area and a safe area, wherein the area within the comprehensive critical distance of each direction is divided into the no-fly area, the area within the early warning distance of each direction and outside the comprehensive critical distance is divided into the dangerous area, and the area outside the early warning distance of each direction is divided into the safe area, as shown in fig. 8 (for convenient representation, a cylinder is adopted to represent equipment), the safety distance standard of the unmanned aerial vehicle routing inspection power transformation equipment can be formulated, and guidance is provided for the unmanned aerial vehicle development.
The distance between 110kV intervals is about 4M-5M, the distance between equipment intervals is about 1.5M-2M, the maximum size of a longitude and latitude M300 RTK is about 1.46M, and the longitude and latitude M300 RTK is forbidden to enter the 110kV equipment intervals during operation and is not recommended to enter the intervals.
The embodiment of the application further provides a system for determining the safe distance of the substation equipment during the routing inspection of the unmanned aerial vehicle, which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of any one of the methods for determining the safe distance of the substation equipment during the routing inspection of the unmanned aerial vehicle.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection determined by the claims.
Claims (9)
1. The method for determining the safe distance of the unmanned aerial vehicle routing inspection power transformation equipment is characterized by comprising the following steps of:
step 1, establishing a three-dimensional simulation model of an unmanned aerial vehicle and power transformation equipment with different voltage levels by combining the distribution characteristics of electromagnetic fields around the power transformation equipment;
step 2, performing space time harmonic electric field simulation on the three-dimensional simulation model in the step 1, extracting potential results of equipment and the unmanned aerial vehicle at different positions and distances of the unmanned aerial vehicle, acquiring the maximum potential difference between the unmanned aerial vehicle and the equipment, and comparing the maximum potential difference with an electric field criterion to determine a critical distance d under the electric field criterion E ；
Step 3, carrying out space time-harmonic magnetic field simulation on the three-dimensional simulation model in the step 1, extracting magnetic induction intensity distribution results at different positions, obtaining maximum magnetic induction intensity distribution at different positions, and comparing the maximum magnetic induction intensity distribution with a magnetic field criterion so as to determine a critical distance d under the magnetic field criterion B ；
Step 4, considering various influencing factors, and determining the comprehensive critical distance d under the criterion of the electric field and the magnetic field L On the basis of the above-mentioned data, the early-warning distance d is analyzed and determined Y And dividing the space area around the equipment into a no-fly area, a dangerous area and a safe area, and providing a proposal of the unmanned aerial vehicle inspection operation area by combining the interval distance of the power transformation equipment.
2. The unmanned aerial vehicle inspection substation equipment safety distance determination method according to claim 1, wherein in step 2, real and imaginary components of a device and unmanned aerial vehicle positioning complex solution are obtained through space time harmonic electric field simulation, a phasor representation form of the unmanned aerial vehicle and equipment potential is obtained, and when the characteristics of harmonic electric field are combined, the maximum potential difference of the unmanned aerial vehicle and a certain phase of the equipment is determined as follows:
in the formula: u shape ADm Is the potential difference between the unmanned aerial vehicle and a certain phase of the equipment,
the real part of the potential is loaded for a certain phase,
is the real part of the potential complex solution of the unmanned aerial vehicle,
the imaginary part of the potential is loaded for a certain phase,
an imaginary part of unmanned aerial vehicle potential complex solution;
the critical distance can be judged by comparing the maximum potential difference between each phase of the unmanned aerial vehicle and the equipment with the electric field criterion, and the maximum value of the critical distance when the unmanned aerial vehicle approaches the equipment according to different paths is taken as the critical distance d under the electric field criterion E 。
3. The unmanned aerial vehicle inspection substation equipment safety distance determination method of claim 1, wherein in step 2 the electric field criterion is selected to be the same as the typical rod-plate gap breakdown voltage at the distance between the unmanned aerial vehicle and the equipment.
4. The unmanned aerial vehicle inspection substation equipment safety distance determination method according to claim 1, characterized in that in step 3, magnetic induction intensity complex solutions at different positions in the real part and the imaginary part in the three directions of x, y and z are obtained through space time harmonic magnetic field simulation, and phasor representation forms of the magnetic induction intensity components in different directions are obtained by combining the characteristics of harmonic field quantities, so that an expression of the magnetic induction intensity along with time is obtained:
in the formula: b xm And phi x 、B Ym And phi y 、B zm And phi z Respectively representing the peak value and the phase angle of components in three directions of magnetic induction intensity x, y and z, wherein B represents the magnetic induction intensity;
obtaining the maximum value of B through calculation, thereby obtaining the maximum magnetic induction intensity of different paths at different positions;
comparing the obtained maximum magnetic induction intensity of different paths at different positions with a magnetic field criterion to obtain the critical distances of the different paths, and selecting the maximum value as the critical distance d under the magnetic field criterion B 。
5. The unmanned aerial vehicle inspection substation equipment safety distance determination method according to claim 1, wherein in step 3, the magnetic field criterion is a power frequency magnetic field tolerance value of a main component of the unmanned aerial vehicle obtained through a test.
6. The unmanned aerial vehicle inspection substation equipment safety distance determination method according to claim 1, wherein the influencing factors in the step 4 include, but are not limited to, positioning errors, remote control errors, errors caused by strong electromagnetic interference of a substation, gusts of wind, detection requirements of carrying equipment, operating voltage and current fluctuation of the substation, and atmospheric conditions.
7. The unmanned aerial vehicle inspection substation equipment safety distance determination method of claim 6, wherein the comprehensive critical distance under electric field and magnetic field criteria is:
d L ＝max{k 1E d E ,k 1B d B }；
in the formula: k is a radical of formula 1E The influence factor k of the transformer substation operation voltage fluctuation and the atmospheric condition on the critical distance under the electric field criterion 1B Representing the influence of the operating current fluctuations on the critical distance under the magnetic field criterion, d L Denotes the integrated critical distance, d E Represents the critical distance, d, under the electric field criterion B Representing the critical distance under the magnetic field criterion;
comprehensively considering the relevance of each influence factor to determine the early warning distance:
d Y ＝max{k 1E d E ,k 1B d B }+k 2 (d 1 +d 2 )+d 3 +Δd；
in the formula: d Y Indicating the warning distance, d 1 To do not result from positioning errorsDetermining the distance, d 2 Remote control buffer uncertainty distance, d, generated for signal delay 3 For uncertain offset distance due to gust, Δ d is the requirement for distance when the unmanned aerial vehicle carries different detection devices, k 2 Influence factor, k, of larger error on distance generated by strong electromagnetic interference and signal shielding of transformer substation on unmanned aerial vehicle than normal condition 2 Main pair d 1 And d 1 An influence is produced.
8. The unmanned aerial vehicle inspection substation equipment safety distance determination method according to claim 7, wherein the area within the comprehensive critical distance of each direction is divided into no-fly areas, the area within the early warning distance of each direction and outside the comprehensive critical distance is divided into dangerous areas, the area outside the early warning distance of each direction is divided into safe areas, and the unmanned aerial vehicle inspection work area suggestion is provided by combining the interval distance of the substation equipment.
9. An unmanned aerial vehicle inspection substation equipment safety distance determination system, comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 8 when executing the computer program.
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