CN115656806A - Isolator monitoring method related to surface area of object - Google Patents

Abstract

The invention relates to a method for monitoring a disconnecting switch related to the surface area of an object, which comprises the following steps: acquiring point cloud data of a target object by using a laser radar; analyzing the state of a target object according to the point cloud data to obtain a monitoring result; acquiring the distance between the laser radar and a target object; acquiring the surface area of a target object; calculating a distance influence coefficient according to the distance between the laser radar and the target object; and calculating the precision of the monitoring result according to the distance influence coefficient and the surface area. The accuracy of the monitoring result is judged by calculating the precision of the monitoring result through the construction function, the overall stability of the monitoring system is effectively improved, and the method has wide applicability. Meanwhile, the invention shoots the point cloud image of the isolating switch through the laser radar, extracts key area attribute information of the conducting arm of the isolating switch by using an algorithm for analysis and processing, and judges the closing state of the isolating switch according to the angle of the conducting arm, so that the monitoring result has high precision, and the invention helps electric power personnel to monitor the running state of the isolating switch in real time and determine whether the isolating switch is reliably closed, thereby reducing accidents caused by incomplete closing of the isolating switch.

Description

A Disconnector Monitoring Method Related to Object Surface Area

technical field

The invention relates to a method for monitoring a disconnector related to the surface area of an object, and belongs to the field of disconnector monitoring.

Background technique

The high-voltage isolating switch is driven by the operating mechanism to realize the contact and separation of the moving contact with the static contact. It is easily affected by the environment when it is running outdoors. If the gate is not in place, there will be a gap, which will cause heat generation and even discharge, which will affect the life of the equipment and threaten the safe operation of the power grid. Therefore, it is necessary to monitor the closing state of the isolating switch.

In the prior art, laser radar is used to obtain the point cloud data of the isolating switch, and the point cloud data is analyzed and processed to obtain the closing state of the isolating switch. For details, please refer to the paper "Automatic monitoring method for the closing state of the isolating switch based on ground laser radar" .Liu Yan, Zou Yang, Tan Shuning, Long Guohua.

Although the lidar-based monitoring system can realize the visual monitoring of the disconnector and the discrimination of the closing state, the measurement accuracy of the lidar is affected by the environmental conditions, and the accuracy of the monitoring system is limited. Therefore, it is necessary to further judge whether the monitoring results of the monitoring system are accurate.

The patent "A Distributed Monitoring Method, System and Medium for Isolating Switch Status" with publication number CN111199219A discloses the following steps: obtain the isolating switch image of the target isolating switch; obtain the angle α between the two arms of the isolating switch through image analysis; Compare the included angle α with the calibrated value of the included angle in closing and opening states respectively to determine the state of the target isolating switch. The invention can accurately monitor the opening and closing state of the target isolating switch, but the accuracy of the obtained result is unknown.

Contents of the invention

In order to overcome the problems existing in the prior art, the present invention designs a disconnector monitoring method related to the surface area of the object, obtains the distance between the laser radar and the disconnector, the surface area of the disconnector and constructs a function to calculate the accuracy of the monitoring results, thereby Judging the accuracy of the monitoring results effectively improves the overall stability of the monitoring system and has wide applicability.

In order to achieve the above object, the present invention adopts the following technical solutions:

Technical solution one

A method of monitoring a disconnector related to the surface area of an object, comprising the steps of:

Use laser radar to obtain point cloud data of target objects;

Analyzing the state of the target object according to the point cloud data to obtain a monitoring result;

Obtain the distance between the lidar and the target object;

Obtain the surface area of the target object;

Calculate the distance influence coefficient according to the distance between the lidar and the target object;

According to the distance influence coefficient and the surface area, the precision of the monitoring result is calculated.

Further, the target object is an isolation switch.

Further, the state of the target object is analyzed according to the point cloud data, and the monitoring result is obtained, as follows:

Cutting the point cloud data in the direction of multiple coordinate axes to obtain the point cloud of the conductive arm of the isolating switch;

Reinforce the edge of the disconnector arm point cloud;

Plane fitting is carried out on the point cloud of the conductive arm on one side of the disconnector to obtain the first fitting plane and the second fitting plane;

The angle between the first fitting plane and the second fitting plane is calculated as the monitoring result.

Further, the calculation of the accuracy of monitoring results specifically includes:

Calculate the distance influence coefficient according to the distance between the lidar and the background environment, and the distance between the lidar and the target object;

Calculate the accuracy of monitoring results according to the distance influence coefficient and the surface area of the target object;

If the accuracy of the monitoring result is greater than the threshold, the monitoring result is considered accurate.

Further, the accuracy of the calculation monitoring result is expressed as:

表示调整因子。In the formula, γ represents the accuracy of monitoring results; η _r represents the transmission efficiency of the laser radar receiving optical system; K _l represents the distance influence coefficient; S _n represents the surface area of the target object; S _L represents the area of the laser radar field of view; Overrate;

Indicates the adjustment factor.

Further, the calculation distance influence coefficient is expressed as:

In the formula, K _l represents the distance influence coefficient; l _b represents the distance between the laser radar generator and the background environment; l _n represents the distance between the laser generator and the target object; c ₁ represents a constant.

Further, the monitoring result includes the monitoring value of the included angle of the conductive arm of the isolation switch;

Calculate the error factor according to the monitored value of the included angle of the conductive arm of the disconnector and the actual value of the included angle of the conductive arm of the disconnector; update the precision of the monitoring result according to the error factor.

Further, according to the error factor, the accuracy of the monitoring result is updated, expressed as:

δ＝0.5(1-100σ)+0.5γ

In the formula, γ represents the accuracy of the monitoring results; δ represents the accuracy of the updated monitoring results; σ represents the error factor.

Technical solution two

A disconnect switch monitoring system correlated to the surface area of an object, comprising:

Laser radar, described laser radar is used for obtaining the point cloud data of target object;

The upper computer, the upper computer is used to analyze the state of the target object according to the point cloud data, and obtain the monitoring result; obtain the distance between the laser radar and the target object; obtain the surface area of the target object; Calculate the distance influence coefficient; calculate the monitoring result accuracy according to the distance influence coefficient and the surface area.

Compared with the prior art, the present invention has the following characteristics and beneficial effects:

Considering that the measurement distance and the surface area of the object will affect the accuracy of the point cloud data collected by the lidar, thus affecting the accuracy of the monitoring results. The invention acquires the distance between the laser radar and the isolating switch, the surface area of the isolating switch and constructs a function to calculate the accuracy of the monitoring result, thereby judging the accuracy of the monitoring result, effectively improving the overall stability of the monitoring system, and having wide applicability.

The invention captures the point cloud image of the isolation switch by laser radar and uses an algorithm to extract the key area attribute information of the isolation switch conductive arm for analysis and processing, and judges the closing state of the isolation switch according to the angle of the conductive arm. The monitoring result has high precision and helps electricians monitor isolation in real time Check the operating status of the switch and determine whether the isolating switch is reliably closed, so as to reduce accidents caused by the incomplete closing of the isolating switch.

Description of drawings

Fig. 1 is a flowchart of the present invention;

Fig. 2 is a schematic diagram of the monitoring system of the present invention.

Detailed ways

The present invention will be described in more detail below in conjunction with examples.

Embodiment one

As shown in Figure 1, a monitoring system for the characteristics of the conductive arm of the isolating switch associated with the surface area of the object includes: a laser radar and a host computer.

The laser radar emitting surface is placed vertically upwards, is provided with an Ethernet interface, and is connected to the host computer through a network cable. The laser radar captures the three-dimensional image of the disconnector and saves it in the form of point cloud data; then the point cloud data is transmitted to the host computer through the network cable.

The upper computer calculates the distance between the laser radar and the target object; obtains the surface area of the target object; calculates the distance influence coefficient according to the distance between the laser radar and the target object; calculates the monitoring result accuracy according to the distance influence coefficient and the surface area .

Embodiment two

A method for monitoring a disconnector associated with a surface area of an object, comprising the steps of:

According to the distance between the target object and the laser radar, calculate the distance influence coefficient K _l of the distance on the monitoring result, expressed as:

In the formula, l _b is the distance between the laser generator and the background environment, the unit is m; l _n is the distance between the laser generator and the target object, the unit is m.

The number of effective point clouds collected by lidar is related to the surface area of the conductive arm of the monitored isolating switch. The more effective point clouds, the higher the accuracy of monitoring results. Therefore, according to the surface area of the target object and the distance influence coefficient _Kl , the accuracy of the monitoring result is calculated, expressed as:

为调整因子，取1.385。In the formula, η _r is the transmission efficiency of the receiving optical system; S _n is the surface area of the target object, the unit is ^m2 ; S _L is the area of sight of the laser radar, the unit is ^m2 ; T is the atmospheric environment transmittance;

As the adjustment factor, take 1.385.

The larger the γ is, the better the monitoring performance is, otherwise the worse the performance. In this embodiment, if γ is greater than 0.7, it is considered that the accuracy of the monitoring result is high; if γ is less than 0.7, it is considered that the target object or the installation distance needs to be adjusted.

Embodiment three

Further, according to the error factor, the precision of the monitoring result is updated, expressed as:

δ＝0.5(1-100σ)+0.5γ

In the formula, γ represents the accuracy of the monitoring results; δ represents the accuracy of the updated monitoring results; σ represents the error factor.

Among them, the calculation formula of error factor σ is as follows:

In the formula, θ ₁ represents the monitoring value of the included angle of the conductive arm of the disconnector; θ ₂ represents the actual value of the included angle of the conductive arm of the disconnector.

Using the updated accuracy δ of the monitoring results, quantitatively characterize the accuracy level of the monitoring results, and use the logic module of the terminal management platform to realize the output display. When δ≥0.8, the monitoring effect level of the isolation switch conductive arm characteristics is displayed as excellent; when 0.8>δ When ≥0.6, the monitoring effect level of the conducting arm of the disconnector is good; when δ<0.6, the monitoring effect level of the conducting arm of the disconnecting switch is poor.

Embodiment four

Analyzing the state of the target object according to the point cloud data to obtain a monitoring result includes the following steps:

Step 3-1: Use the software CloudCompare to select ten single-frame PCD data for the point cloud data of the isolating switch collected in the same time period to synthesize, so as to increase the amount of point cloud data and improve the image imaging effect, which is more conducive to the extraction of the characteristics of the isolating switch conductive arm and improve data reliability;

Step 3-2: Use the image target area clipping algorithm to cut the point cloud: introduce shrinkage factors S _x , S y , and S _z in the x, _y , and z-axis directions respectively; change the value of the shrinkage factor to make the isolation switch in the point cloud data conductive The arm has the best boundary tightening effect; cut the point cloud data in multiple coordinate axis directions: create the x-axis clipping object area value [-4, 4], and crop the reserved area; create the y-axis clipping object area value [-4 , 8], cut out the reserved area; create a z-axis clipping object area value [0, 4.5], cut out the reserved area, and obtain the point cloud of the disconnector conductive arm, so as to better retain the side point cloud of each single-side conductive arm of the disconnector;

Step 3-3: Use the edge enhancement operator to enhance the local edge in the point cloud of the conductive arm of the disconnector: locate the edge point by the zero crossing point of the second derivative obtained from the point cloud; remove some boundary points from the edge point set Or fill in the boundary discontinuities to obtain the three-dimensional edge point cloud data distributed along the surface of the disconnector conductive arm;

Step 3-4: Use the European clustering algorithm to perform noise reduction processing on the point cloud of the disconnector arm to reduce the environmental background noise; wherein, the value range of the clustering threshold coefficient k of the European clustering algorithm is set in the interval [0.03, 0.12 ]Inside;

Step 3-5: Use the LMeds algorithm to perform a plane fitting on the point cloud data: randomly extract N sample subsets from the point cloud samples; use the least square method to calculate model parameters and model errors for each sample subset; record the model The median value of the parameter and model error, and finally select the model parameter corresponding to the smallest median value of the model error among the N sample subsets as the plane parameter, after multiple iterations to determine the optimal threshold and remove abnormal points; Carry out quadratic plane fitting to obtain the fitting plane equations S1 and S2 on the side of the conductive arm on one side of the disconnector;

Step 3-6: Use the data processing method to obtain the normal vectors of the two planes, and calculate the angle _θ1 between the two normal vectors, which is the monitoring value of the angle of the conductive arm of the disconnector.

It should be noted that the characteristic monitoring system and computer-readable storage medium for the conductive arm of the isolating switch associated with the surface area of the object proposed above are also used to realize the conductive arm of the isolating switch associated with the surface area of the object as shown in Figure 1 above. The method steps corresponding to each embodiment in the arm feature monitoring system method are not repeated in this application.

It should be noted that each functional unit/module in each embodiment of the present invention can be integrated into one processing unit/module, or each unit/module can exist separately physically, or two or more units/modules can be integrated. Modules are integrated in one unit/module. The above-mentioned integrated units/modules can be implemented in the form of hardware or in the form of software functional units/modules.

Through the above description of the implementation manners, those skilled in the art can clearly understand that the embodiments described herein can be implemented by hardware, software, firmware, middleware, codes or any appropriate combination thereof. For hardware implementation, the processor can be implemented in one or more of the following units: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic units designed to perform the functions described herein, or combinations thereof. For software implementation, part or all of the processes of the embodiments can be completed by instructing related hardware through computer programs. When implemented, the above program can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. Computer readable media may include, but are not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and any other medium that can be accessed by a computer.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should analyze , the technical solution of the present invention may be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.

Claims (10)

1. A method of isolating switch monitoring in relation to a surface area of an object, comprising the steps of:

acquiring point cloud data of a target object by using a laser radar;

analyzing the state of a target object according to the point cloud data to obtain a monitoring result;

acquiring the distance between the laser radar and a target object;

acquiring the surface area of a target object;

calculating a distance influence coefficient according to the distance between the laser radar and the target object;

and calculating the precision of the monitoring result according to the distance influence coefficient and the surface area.

2. The method for monitoring the isolating switch related to the surface area of the object as recited in claim 1, wherein the target object is the isolating switch.

3. The method for monitoring the disconnecting switch related to the surface area of the object according to claim 2, wherein the monitoring result is obtained by analyzing the state of the target object according to the point cloud data, and specifically comprises the following steps:

cutting the point cloud data in a plurality of coordinate axis directions by using an image target area cutting algorithm to obtain a point cloud of the conductive arm of the isolating switch;

enhancing the edge of the point cloud of the conductive arm of the isolating switch by using an edge enhancement operator;

carrying out noise reduction processing on the point cloud of the conductive arm of the isolating switch by using an Euclidean clustering algorithm;

carrying out plane fitting on the point cloud of the single-side conductive arm of the isolating switch to obtain a first fitting plane and a second fitting plane;

and calculating an included angle between the first fitting plane and the second fitting plane as a monitoring result.

4. The method for monitoring the disconnecting switch related to the surface area of the object according to claim 1, wherein the distance influence coefficient is calculated as follows:

and calculating the distance influence coefficient according to the distance between the laser radar and the background environment and the distance between the laser radar and the target object.

5. The method for monitoring the disconnecting switch related to the surface area of the object according to claim 1, wherein the accuracy of the calculated monitoring result is expressed by the formula:

in the formula, gamma represents the precision of the monitoring result; eta _r The transmission efficiency of the laser radar receiving optical system is represented; k _l Representing a distance influence coefficient; s _n Representing the surface area of the target object; s. the _L The area of the view range of the laser radar is represented; t represents the atmospheric environment transmittance;

indicating the adjustment factor.

6. The method for monitoring the isolating switch related to the surface area of the object as claimed in claim 1, wherein the calculated distance influence coefficient is expressed by a formula:

in the formula, K _l Representing a distance influence coefficient; l. the _b Representing the distance between the lidar generator and the background environment; l _n Representing a distance between the laser generator and the target object; c. C ₁ Representing a constant.

7. The method for monitoring the isolating switch related to the surface area of the object according to claim 4, wherein the monitoring result comprises an isolating switch conductive arm included angle monitoring value;

calculating an error factor according to the angle monitoring value of the conductive arm of the isolating switch and the actual value of the angle of the conductive arm of the isolating switch; and updating the precision of the monitoring result according to the error factor.

8. The method for monitoring the disconnecting switch related to the surface area of the object according to claim 7, wherein the monitoring result precision is updated according to an error factor, and the formula is as follows:

δ＝0.5(1-100σ)+0.5γ

in the formula, gamma represents the precision of the monitoring result; delta represents the updated monitoring result accuracy; σ denotes an error factor.

9. A disconnector monitoring system associated with a surface area of an object, comprising:

the system comprises a laser radar, a data acquisition module and a data processing module, wherein the laser radar is used for acquiring point cloud data of a target object;

the upper computer is used for analyzing the state of the target object according to the point cloud data to obtain a monitoring result; acquiring the distance between the laser radar and a target object; acquiring the surface area of a target object; calculating a distance influence coefficient according to the distance between the laser radar and the target object; and calculating the precision of the monitoring result according to the distance influence coefficient and the surface area.

10. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing a method of monitoring a disconnector dependent on the surface area of an object as claimed in any one of the preceding claims 1 to 8.

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