CN115656806A - Isolator monitoring method related to surface area of object - Google Patents
Isolator monitoring method related to surface area of object Download PDFInfo
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- CN115656806A CN115656806A CN202211407016.5A CN202211407016A CN115656806A CN 115656806 A CN115656806 A CN 115656806A CN 202211407016 A CN202211407016 A CN 202211407016A CN 115656806 A CN115656806 A CN 115656806A
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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
Technical Field
The invention relates to a method for monitoring an isolating switch related to the surface area of an object, and belongs to the field of isolating switch monitoring.
Background
The high-voltage isolating switch is driven by the operating mechanism to realize the contact and separation of the moving contact and the fixed contact, is very easily influenced by the environment when the high-voltage isolating switch operates outdoors, and the isolating switch is not switched on in place due to the fact that transmission is jammed, the size of components is changed, transmission components are staggered and the like, so that gaps occur, heating and even discharging are caused, the service life of equipment is influenced, and the safe operation of a power grid is threatened. Therefore, the closing state of the disconnecting switch needs to be monitored.
In the prior art, a laser radar is used to obtain point cloud data of an isolating switch, and the point cloud data is analyzed and processed to obtain a closing state of the isolating switch, which can be referred to paper "isolating switch closing state automatic monitoring method based on a ground laser radar", liu deri, zhouyang, tan shuning, and long china.
Although the monitoring system based on the laser radar can realize visual monitoring of the isolating switch and discrimination of the closing state, the measurement precision of the laser radar is influenced by environmental conditions, and the accuracy of the monitoring system is limited. Therefore, it is necessary to further determine whether the monitoring result of the monitoring system is accurate.
Patent publication No. CN111199219A, namely, "a method, a system and a medium for distributed monitoring of states of isolating switches" discloses the following steps: acquiring an isolating switch image of a target isolating switch; acquiring an included angle alpha between two arms of the isolating switch through image analysis; and respectively comparing the included angle alpha with the included angle calibration values of the switching-on state and the switching-off state to determine the state of the target isolating switch. The method can accurately monitor the opening and closing state of the target isolating switch, but the accuracy of the obtained result is unknown.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention designs the isolating switch monitoring method related to the surface area of the object, obtains the distance between the laser radar and the isolating switch and the surface area of the isolating switch, and constructs a function to calculate the precision 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.
In order to achieve the purpose, the invention adopts the following technical scheme:
technical scheme one
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.
Further, the target object is an isolating switch.
Further, the state of the target object is analyzed according to the point cloud data to obtain a monitoring result, which specifically comprises the following steps:
cutting the point cloud data in a plurality of coordinate axis directions to obtain a point cloud of the conducting arm of the isolating switch;
enhancing the edge of the point cloud of the conductive arm of the isolating switch;
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.
Further, the calculating the accuracy of the monitoring result specifically includes:
calculating a 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;
calculating the precision of the monitoring result according to the distance influence coefficient and the surface area of the target object;
and if the precision of the monitoring result is greater than the threshold value, the monitoring result is considered to be accurate.
Further, the accuracy of the calculated monitoring result is expressed by a 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. the n Representing the surface area of the target object; s L The area of the view range of the laser radar is represented; t represents the atmospheric environment transmittance;
indicating the adjustment factor.
Further, the distance influence coefficient is calculated and expressed by the formula:
in the formula, K l Representing a distance influence coefficient; l 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.
Further, the monitoring result comprises an included angle monitoring value of the conductive arm of the isolating switch;
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.
Further, the updating of the accuracy of the monitoring result according to the error factor is expressed by a formula:
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.
Technical scheme two
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.
Compared with the prior art, the invention has the following characteristics and beneficial effects:
the accuracy of the monitoring result is influenced by considering that the measurement distance and the surface area of an object influence the precision of point cloud data acquired by the laser radar. The invention obtains the distance between the laser radar and the isolating switch and the surface area of the isolating switch and constructs a function to calculate the precision 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.
According to the invention, the point cloud image of the isolating switch is shot through the laser radar, the key area attribute information of the conducting arm of the isolating switch is extracted by utilizing an algorithm for analysis and processing, the closing state of the isolating switch is judged according to the angle of the conducting arm, the monitoring result has high precision, the electric power personnel are helped to monitor the running state of the isolating switch in real time and determine whether the isolating switch is reliably closed, and the accidents caused by the incomplete closing of the isolating switch are reduced.
Drawings
FIG. 1 is a flow chart of the present invention;
fig. 2 is a schematic view of a monitoring system according to the present invention.
Detailed Description
The present invention will be described in more detail with reference to examples.
Example one
As shown in fig. 1, a system for monitoring characteristics of a conductive arm of a disconnector in relation to the surface area of an object, comprises: laser radar, host computer.
The laser radar transmitting surface is vertically and upwards arranged, is provided with an Ethernet interface and is connected with an upper computer through a network cable. The method comprises the following steps that a laser radar shoots a three-dimensional image of an isolating switch and stores the three-dimensional image in a point cloud data form; and then the point cloud data is transmitted to an upper computer through a network cable.
The upper computer calculates the distance between the laser radar and the 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.
Example two
A method of isolating switch monitoring in relation to a surface area of an object, comprising the steps of:
according to the distance between the target object and the laser radar, calculating the distance influence coefficient K of the distance on the monitoring result l Expressed by the formula:
in the formula I b The distance between the laser generator and the background environment is given in m; l. the n Is the distance between the laser generator and the target object and has the unit of m.
The number of the effective point clouds collected by the laser radar is related to the surface area of the conductive arm of the monitored isolating switch, and the more the number of the effective point clouds is, the higher the precision of the monitoring result is. Therefore, the influence coefficient K is influenced according to the surface area and the distance of the target object l And calculating the precision of the monitoring result, which is expressed by a formula as follows:
in the formula eta r To receive the transmission efficiency of the optical system; s. the n Is the surface area of the target object in m 2 ；S L Is the area of the laser radar field of view, and the unit is m 2 (ii) a T is the atmospheric environment transmittance;
to adjust the factor, take 1.385.
The larger the γ, the better the monitoring performance, and vice versa the worse the performance. In this embodiment, if γ is greater than 0.7, the accuracy of the monitoring result is considered to be high; if γ is less than 0.7, it is considered that the target object or the installation distance needs to be adjusted.
EXAMPLE III
Further, according to the error factor, updating the precision of the monitoring result, which is expressed as:
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.
Wherein, the error factor sigma is calculated as follows:
in the formula, theta 1 Representing the monitoring value of the included angle of the conductive arm of the isolating switch; theta 2 Representing the actual value of the included angle of the conductive arms of the isolating switch.
Quantitatively representing the accuracy grade of the monitoring result by using the updated precision delta of the monitoring result, realizing output display by using a logic module of a terminal management platform, and displaying the characteristic monitoring effect grade of the conductive arm of the isolating switch to be excellent when the delta is more than or equal to 0.8; when delta is more than 0.8 and is more than or equal to 0.6, the level of the characteristic monitoring effect of the conductive arm of the isolating switch is good; when δ is less than 0.6, the level of the monitoring effect of the characteristics of the conductive arm of the isolating switch is shown to be poor.
Example four
Analyzing the state of a target object according to the point cloud data to obtain a monitoring result, and the method comprises the following steps of:
step 3-1: ten pieces of single-frame PCD data are selected from the point cloud data of the isolating switch collected in the same time period by using the software cloudCompare to be synthesized, so that the point cloud data volume is increased, the image imaging effect is improved, the extraction of the characteristics of the conducting arm of the isolating switch is facilitated, and the data reliability is improved;
step 3-2: performing point cloud cutting by using an image target area cutting algorithm: respectively introducing contraction factors S in the directions of x, y and z axes x 、S y 、S z (ii) a Changing the value of the contraction factor to enable the isolation switch conductive arm in the point cloud data to have the optimal tightening boundary effect; cutting the point cloud data in a plurality of coordinate axis directions: creating an x-axis cropped object region value [ -4,4]Cutting the reserved area; creating a y-axis cropped object region value [ -4,8]Cutting the reserved area; creating a z-axis crop object region value [0,4.5]Cutting the reserved area to obtain a point cloud of the conductive arm of the isolating switch so as to better reserve the point cloud of the side surface of each single-side conductive arm of the isolating switch;
step 3-3: and enhancing the local edge in the point cloud of the conductive arm of the isolating switch by utilizing an edge enhancement operator: locating edge points from zero crossings of the second derivative obtained from the point cloud; removing certain boundary points or filling boundary discontinuous points in the edge point set to obtain three-dimensional edge point cloud data distributed along the surface of the isolating switch conductive arm;
3-4, performing noise reduction treatment on the point cloud of the conducting arm of the isolating switch by using an Euclidean clustering algorithm to reduce environmental background noise points; setting the value range of a clustering threshold coefficient k of the Euclidean clustering algorithm in an interval [0.03,0.12 ];
and 3-5, performing primary plane fitting on the point cloud data by utilizing an LMeds algorithm: randomly extracting N sample subsets from the point cloud samples; calculating model parameters and model errors for each sample subset using a least squares method; recording model parameters and intermediate values of model errors, finally selecting the model parameter corresponding to the minimum intermediate value of the model errors in the N sample subsets as a plane parameter, and iteratively determining an optimal threshold value for multiple times and eliminating abnormal points; performing secondary plane fitting on the point cloud data by using a characteristic value method to obtain fitting plane equations S1 and S2 of the side surface of the single-side conductive arm of the isolating switch;
3-6, obtaining normal vectors of the two planes by using a data processing method, and calculating an included angle theta between the two normal vectors 1 Namely the monitoring value of the included angle of the conductive arm of the isolating switch.
It should be noted that, the above-mentioned isolated switch conductive arm characteristic monitoring system and computer-readable storage medium related to the surface area of the object are also used for implementing the corresponding method steps in the above-mentioned isolated switch conductive arm characteristic monitoring system method related to the surface area of the object as shown in fig. 1, and the description of the present application is not repeated here.
It should be noted that, functional units/modules in the embodiments of the present invention may be integrated into one processing unit/module, or each unit/module may exist alone physically, or two or more units/modules are integrated into one unit/module. The integrated units/modules may be implemented in the form of hardware, or may be implemented in the form of software functional units/modules.
From the above description of embodiments, it is clear for a person skilled in the art that the embodiments described herein can be implemented in hardware, software, firmware, middleware, code or any appropriate combination thereof. For a hardware implementation, the processor may be implemented in one or more of the following units: an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a processor, a controller, a microcontroller, a microprocessor, other electronic units designed to perform the functions described herein, or a combination thereof. For a software implementation, some or all of the procedures of an embodiment may be performed by a computer program instructing associated hardware. In practice, the program may be stored on or transmitted over as one or more instructions or code 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 can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be analyzed by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions 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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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117826116A (en) * | 2024-03-04 | 2024-04-05 | 广东电网有限责任公司中山供电局 | Method and device for determining opening and closing states of double-column horizontal rotary isolating switch |
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2022
- 2022-11-10 CN CN202211407016.5A patent/CN115656806A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117826116A (en) * | 2024-03-04 | 2024-04-05 | 广东电网有限责任公司中山供电局 | Method and device for determining opening and closing states of double-column horizontal rotary isolating switch |
| CN117826116B (en) * | 2024-03-04 | 2024-05-14 | 广东电网有限责任公司中山供电局 | Method and device for determining opening and closing states of double-column horizontal rotary isolating switch |
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