CN115727760A - Spatial position identification method, system, equipment and storage medium - Google Patents
Spatial position identification method, system, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a space position identification method, a system, equipment and a storage medium, wherein the method comprises the steps of calculating an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor according to a time height matrix; responding to the input GIS equipment size data, and constructing a GIS equipment size matrix, wherein the GIS equipment size matrix comprises absolute position information of a GIS equipment insulating disc; and comparing the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the size matrix of each GIS device to generate a partial discharge ultrahigh frequency sensor layout diagram. The technical problems that in the prior art, the position parameters of the sensor are obtained in a manual measurement mode, the spatial position information of the sensor has large errors, and the accuracy is low are solved. The method provides important parameters for abnormal examination and positioning of the partial discharge ultrahigh frequency sensor, effectively reduces measurement errors, and improves the working efficiency and the reliability of results.
Description
Technical Field
The present invention relates to the field of location identification technologies, and in particular, to a method, a system, a device, and a storage medium for identifying a spatial location.
Background
GIS equipment is widely applied to power systems because of its characteristics of compact structure, small floor space, high reliability, flexible configuration, convenient installation, strong safety, strong environmental adaptability, small maintenance workload and the like. However, the GIS equipment is difficult to locate and maintain due to the fully sealed structure, maintenance work is complicated, the average power failure maintenance time after an accident is longer than that of conventional equipment, the power failure range is large, and a plurality of non-fault elements are involved.
Therefore, the partial discharge monitoring device or the electrified testing device is adopted to detect the running state of the GIS equipment in real time or periodically, the GIS equipment can be intervened and overhauled in the early stage of defects, and the method is an important means for preventing the GIS equipment from abnormally developing into faults. According to the requirements of southern power grid technical specifications, a partial discharge monitoring device needs to be installed on GIS equipment of 220kV and above, and all GIS equipment needs to periodically carry out partial discharge live-line tests.
The spatial position of a partial discharge sensor is an important parameter for abnormal checking and positioning of GIS equipment partial discharge, and the current technology is that in the checking occasion needing the sensor position parameter, the position parameter of the sensor is obtained in a manual measurement mode and then is input into a monitoring or detecting device for analysis and calculation; when the sensor position parameters are needed to construct the sensor stationing information graph, manual drawing is needed. Therefore, the spatial position information of the sensor has larger error and low accuracy.
Disclosure of Invention
The invention provides a space position identification method, a system, equipment and a storage medium, which solve the problems that in the prior art, in the inspection occasion needing the position parameters of a sensor, the position parameters of the sensor are obtained in a manual measurement mode and then input into a monitoring or detecting device for analysis and calculation; when the sensor position parameters are needed to construct the sensor stationing information graph, manual drawing is needed. Therefore, the spatial position information of the sensor has a large error and low accuracy.
A spatial location identifying method provided in a first aspect of the present invention is applied to a location identifying device, and relates to an partial discharge ultrahigh frequency sensor, where the location identifying device is connected to the partial discharge ultrahigh frequency sensor, and the method includes:
responding to the received trigger information, and measuring height data of each partial discharge ultrahigh frequency sensor;
generating a time height matrix by adopting each height data and data measurement time;
calculating an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor according to the time height matrix;
responding to the input GIS equipment size data, and constructing a GIS equipment size matrix, wherein the GIS equipment size matrix comprises absolute position information of a GIS equipment insulating disc;
and comparing the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the size matrix of each GIS device to generate a partial discharge ultrahigh frequency sensor layout diagram.
Optionally, the data measurement time comprises an outgoing measurement time and a received measurement time; the step of generating a time-height matrix using each of the height data and the data measurement time includes:
recording the sending measuring time of the height data and the receiving measuring time of the receiving end;
and constructing a time height matrix by adopting each height data, the sending measurement time and the receiving measurement time.
Optionally, the step of calculating an absolute position coordinate matrix of each partial discharge uhf sensor according to the time height matrix includes:
calculating a time difference between the receive measurement time and the transmit measurement time;
calculating a time product of the speed of light and the time difference;
calculating coordinate axis information corresponding to the relative position between the partial discharge ultrahigh frequency sensors by adopting the time multiplication value and the height data;
and constructing a coordinate axis matrix corresponding to the relative position of each partial discharge ultrahigh frequency sensor according to the coordinate axis information, and determining an absolute position coordinate matrix of the partial discharge ultrahigh frequency sensor.
Optionally, the step of calculating coordinate axis information corresponding to a relative position between the partial discharge ultrahigh frequency sensors by using the time product and the height data includes:
setting an x-axis coordinate and a y-axis coordinate of the first local ultrahigh frequency sensor as a preset value x-axis coordinate and a preset value y-axis coordinate respectively;
and calculating x-axis coordinates and y-axis coordinates corresponding to the second partial discharge ultrahigh frequency sensor and the third partial discharge ultrahigh frequency sensor respectively by adopting the time multiplication value and height data corresponding to the first partial discharge ultrahigh frequency sensor, the second partial discharge ultrahigh frequency sensor and the third partial discharge ultrahigh frequency sensor respectively, and determining coordinate axis information corresponding to the relative position between the partial discharge ultrahigh frequency sensors.
Optionally, the method further comprises:
and placing the partial discharge ultrahigh frequency sensor in the GIS equipment insulating disc.
Optionally, the step of comparing the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with each GIS device size matrix to generate a partial discharge ultrahigh frequency sensor layout diagram includes:
comparing coordinate information corresponding to the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with coordinate information corresponding to absolute position information of a GIS equipment insulating disc in the GIS equipment size matrix;
if the coordinate information is consistent, determining the type of the GIS equipment according to the GIS equipment size matrix, and generating a GIS equipment wiring diagram and a local ultrahigh frequency sensor layout diagram;
and if the coordinate information is inconsistent, selecting the remaining GIS equipment size matrix as a new GIS equipment size matrix, and skipping to execute the step of comparing the coordinate information corresponding to the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the coordinate information corresponding to the absolute position information of a GIS equipment insulating disc in the GIS equipment size matrix.
Optionally, the method further comprises:
responding to the received updating trigger information, and measuring the updating height data of the partial discharge ultrahigh frequency sensor;
comparing the height data and the data measurement time with the updated height data and the updated data measurement time respectively;
if the data are consistent, determining that the partial discharge ultrahigh frequency sensor is in the original position and unchanged;
and if the data are inconsistent, determining that the partial discharge ultrahigh frequency sensor shifts, and generating shift alarm information.
A spatial position identification system provided in a second aspect of the present invention is applied to a position identification device, and relates to an partial discharge ultrahigh frequency sensor, where the position identification device is connected to the partial discharge ultrahigh frequency sensor, and the system includes:
the height data module is used for responding to the received trigger information and measuring height data of each partial discharge ultrahigh frequency sensor;
the time height matrix module is used for adopting each height data and data measurement time to generate a time height matrix;
the absolute position coordinate matrix module is used for calculating an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor according to the time height matrix;
the GIS equipment size matrix comprises absolute position information of an insulating disc of the GIS equipment;
and the local discharge ultrahigh frequency sensor layout diagram module is used for comparing the absolute position coordinate matrix of each local discharge ultrahigh frequency sensor with each GIS equipment size matrix to generate a local discharge ultrahigh frequency sensor layout diagram.
A third aspect of the present invention provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor is enabled to execute the steps of the spatial location identification method according to any one of the above descriptions.
A fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program, when executed, implementing the spatial position identification method according to any one of the above.
According to the technical scheme, the invention has the following advantages:
the height data of each partial discharge ultrahigh frequency sensor is measured by responding to the received trigger information; generating a time height matrix by adopting each height data and data measurement time; calculating an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor according to the time height matrix; responding to the input GIS equipment size data, and constructing a GIS equipment size matrix, wherein the GIS equipment size matrix comprises absolute position information of a GIS equipment insulating disc; and comparing the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the size matrix of each GIS device to generate a partial discharge ultrahigh frequency sensor layout diagram. The method solves the problems that in the prior art, the position parameters of the sensor are acquired in a manual measurement mode in the inspection occasion needing the position parameters of the sensor and then input into a monitoring or detecting device for analysis and calculation; when the sensor position parameters are needed to construct the sensor stationing information graph, manual drawing is needed. Therefore, the spatial position information of the sensor has a large error and low accuracy.
The invention automatically calculates the absolute position of the sensor installed on the online monitoring device and the relative position of the sensor installed in the live test, provides important parameters for abnormal partial discharge investigation and positioning, completely avoids the operation of manually measuring the distance of the sensor in the abnormal partial discharge investigation process of GIS equipment, effectively reduces the measurement error, and improves the working efficiency and the reliability of the result.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a flowchart illustrating steps of a spatial location identification method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an internal circuit structure of a position identification apparatus according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram illustrating a connection between a location identification device and a host device according to a second embodiment of the present invention;
fig. 4 is a flowchart illustrating steps of a spatial location identification method according to a third embodiment of the present invention;
fig. 5 is a schematic diagram of an internal circuit structure of a device a, a device B, and a device C according to a third embodiment of the present invention, which transmit information to each other;
FIG. 6 is a schematic diagram of an absolute position coordinate matrix of a computing device A, a computing device B, and a computing device C according to a third embodiment of the present invention;
fig. 7 is a schematic flow chart of generating a layout diagram of a partial discharge ultrahigh frequency sensor according to a third embodiment of the present invention;
fig. 8 is a schematic flow chart illustrating a process of determining whether the partial discharge uhf sensor is misaligned according to a third embodiment of the present invention;
fig. 9 is a block diagram of a spatial location identification system according to a fourth embodiment of the present invention.
Wherein the reference numerals have the following meanings:
1. a power supply module; 2. a network module; 3. a clock module; 4. a storage module; 5. a laser positioning module; 6. an operation module; 7. a signal generating module; 8. a signal detection module; 9. a signal switch; 10. a high-speed cable interface; 11. a receiving antenna; 12. a transmitting antenna; 13. a host device.
Detailed Description
The embodiment of the invention provides a spatial position identification method, a system, equipment and a storage medium, which are used for solving the problems that in the prior art, in the inspection occasion needing the position parameters of a sensor, the position parameters of the sensor are obtained in a manual measurement mode and then input into a monitoring or detecting device for analysis and calculation; when the sensor position parameters are needed to construct the sensor stationing information graph, manual drawing is needed. Therefore, the spatial position information of the sensor has a large error and low accuracy.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a spatial location identification method according to an embodiment of the present invention.
The invention provides a space position identification method, which is applied to a position identification device and relates to an partial discharge ultrahigh frequency sensor, wherein the position identification device is connected with the partial discharge ultrahigh frequency sensor, and the method comprises the following steps:
and step 101, responding to the received trigger information, and measuring height data of each partial discharge ultrahigh frequency sensor.
It should be noted that the position identification device refers to a device installed on the partial discharge ultrahigh frequency sensor, and the position identification device includes a power module, a network module, a clock module, a storage module, a laser positioning module, an operation module, a signal generation module, a signal detection module, a signal switch, a high-speed cable interface, a receiving antenna, and a transmitting antenna. The partial discharge ultrahigh frequency sensor is a device capable of rapidly determining the power equipment with the potential partial discharge defect in real time, so that a power user only detects the hidden danger equipment in detail, the detection workload of power operation and maintenance personnel is greatly reduced, and the safety accident of the power grid equipment is effectively avoided.
In a specific embodiment, the trigger information is sent at regular time, when the trigger information is received, the height data of each partial discharge ultrahigh frequency sensor is measured in response to the received trigger information, and the sending measurement time for sending the trigger information, the receiving measurement time for receiving the trigger information and the measured height data are recorded.
And 102, generating a time height matrix by adopting each height data and data measurement time.
It should be noted that the data measurement time includes an outgoing measurement time and a received measurement time.
In a specific embodiment, a time altitude matrix is generated by using each altitude data and the corresponding sending measurement time and receiving measurement time of the altitude data.
And 103, calculating an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor according to the time height matrix.
In a specific embodiment, height data in a time height matrix, sending out measurement time, receiving measurement time and light speed are adopted, the relative position between each partial discharge ultrahigh frequency sensor is calculated, then coordinate axis information of one partial discharge ultrahigh frequency sensor is preset, coordinate axis information of adjacent partial discharge ultrahigh frequency sensors is calculated, the relative position between each device is calculated in an iterative mode, a coordinate axis matrix corresponding to the relative position of each partial discharge ultrahigh frequency sensor is constructed, and therefore the absolute position coordinate matrix of a certain partial discharge ultrahigh frequency sensor is determined.
And 104, responding to the input GIS equipment size data, and constructing a GIS equipment size matrix, wherein the GIS equipment size matrix comprises absolute position information of a GIS equipment insulating disc.
It should be noted that the partial discharge ultrahigh frequency sensor is installed in the GIS device insulating disc, so the absolute position information of the GIS device insulating disc is consistent with the absolute position information of the corresponding partial discharge ultrahigh frequency sensor.
In a specific embodiment, the GIS device size data is obtained from the host device 13, and a GIS device size matrix may be constructed, where the GIS device size matrix includes absolute position information of the GIS device insulating disc.
And 105, comparing the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the size matrix of each GIS device to generate a partial discharge ultrahigh frequency sensor layout diagram.
In a specific embodiment, an x-axis coordinate, a y-axis coordinate and a z-axis coordinate corresponding to an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor are respectively compared with an x-axis coordinate, a y-axis coordinate and a z-axis coordinate corresponding to absolute position information of a GIS equipment insulating disc in each GIS equipment size matrix, if the coordinate information is consistent, the position of the GIS equipment insulating disc can be determined based on the installation position of the partial discharge ultrahigh frequency sensor, the GIS equipment insulating disc is connected, the type of the GIS equipment can be known, a GIS equipment wiring diagram is also formed, and therefore a partial discharge ultrahigh frequency sensor wiring diagram is automatically generated. If the coordinate information is inconsistent, the installing position of the partial discharge ultrahigh frequency sensor is not on the GIS equipment insulating disc, a new GIS equipment size matrix [ G ] needs to be selected again, and then the absolute position matrix [ Z ] of the comparison device and the GIS equipment size matrix [ G ] are compared until the compared coordinate information is consistent.
The height data of each partial discharge ultrahigh frequency sensor is measured by responding to the received trigger information; generating a time height matrix by adopting each height data and data measurement time; calculating an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor according to the time height matrix; responding to the input GIS equipment size data, and constructing a GIS equipment size matrix, wherein the GIS equipment size matrix comprises absolute position information of a GIS equipment insulating disc; and comparing the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the size matrix of each GIS device to generate a partial discharge ultrahigh frequency sensor layout diagram. The method solves the problems that in the prior art, the position parameters of the sensor are acquired in a manual measurement mode on the inspection occasion needing the position parameters of the sensor and then input into a monitoring or detecting device for analysis and calculation; when the sensor position parameters are needed to construct the sensor stationing information graph, manual drawing is needed. Therefore, the spatial position information of the sensor has a large error and low accuracy.
The invention automatically calculates the absolute position of the sensor installed on the online monitoring device and the relative position of the sensor installed in the live test, provides important parameters for abnormal partial discharge investigation and positioning, completely avoids the operation of manually measuring the distance of the sensor in the abnormal partial discharge investigation process of GIS equipment, effectively reduces the measurement error, and improves the working efficiency and the reliability of the result.
Referring to fig. 2 to fig. 3, fig. 2 is a schematic diagram of an internal circuit structure of a location identification device according to a second embodiment of the present invention.
The invention provides an internal circuit and system structure of a position identification device, and the module definition, function and incidence relation among modules of a specific circuit diagram are as follows:
the position identification device is composed of a power supply module 1, a network module 2, a clock module 3, a storage module 4, a laser positioning module 5, an operation module 6, a signal generation module 7, a signal detection module 8, a signal switch 9, a high-speed cable interface 10, a receiving antenna 11 and a sending antenna 12, and is connected with a host device 13 through the network module 2.
The power supply module 1 is powered by a storage battery, the ports 1-1 and 1-2 are connected with the storage battery, the ports 1-3 and 1-4 respectively output 5V positive polarity and negative polarity direct current voltages to provide working power for the network module 2, the clock module 3, the storage module 4, the laser positioning module 5, the operation module 6, the signal generation module 7 and the signal detection module 8, the electric quantity information output end 1-5 is connected with the data input end 2-3 of the network module 2, electric quantity information is periodically input into the network module 2 and then is sent to the host device 13 through the sending antenna 12, and monitoring of the electric quantity of the device is achieved through the host device 13.
The network module 2 is a network communication module, and can establish a working network with other position identification devices and the host device 13 through a wireless network. The working power supply ends 2-1 and 2-2 are respectively connected to ends 1-3 and 1-4 of the power supply module 1, the power supply module 1 provides working power supply, the data input end 2-3 is connected with the data output end 4-4 of the storage module 4 and the electric quantity information output end 1-5 of the power supply module to receive stored data and electric quantity data which need to be transmitted outwards, the data output end 2-4 is connected with the data input end 4-3 of the storage module 4 to store the data received by the receiving antenna 11 into the storage module 4, the signal input end 2-6 is connected with the receiving antenna 11 to receive signals of other position identification devices and a host device 13, the signal output end 2-7 is connected with the transmitting antenna 12 to send signals to other position identification devices and the host device 13, the network information trigger end 2-5 is connected with the clock recording trigger end 3-3 of the clock module 3, and when the network module 2 receives the signals, the network information trigger end 2-5 sends trigger signals to the clock recording end 3-3 to trigger the clock recording module 3 to record time.
The clock module 3 is a synchronous clock source for unifying time information with other devices and the host device 13. The working power supply ends 3-1 and 3-2 are respectively connected to ends 1-3 and 1-4 of the power supply module 1, the power supply module 1 provides working power supply, the clock recording trigger end 3-3 is connected with the network information trigger end 2-5 of the network module 2, the laser ranging trigger end 5-4 of the laser positioning module 5, the detection output signal trigger time recording end 7-6 of the signal generating module 7 and the detection input signal trigger time recording end 8-5 of the signal detecting module 8, respectively receive trigger signals of different modules and record time information, the time data are sent to the data input end 4-3 of the storage module 4 connected with the time data output end 3-5, the time data are transmitted into the storage module 4, the time recording trigger end 3-4 is connected with the laser positioning trigger end 5-3 of the laser positioning module 5, the trigger signals are periodically sent to the laser positioning module 5 for laser positioning, and the device height information is acquired for detecting and alarming the device position deviation and dislocation.
The storage module 4 is a data storage module, and is used for storing time data, laser positioning data, GIS device size data, and the like, and calculating the relative position and the absolute position of the partial discharge ultrahigh frequency sensor. The working power supply ends 4-1 and 4-2 are respectively connected to the ends 1-3 and 1-4 of the power supply module 1, the power supply module 1 provides working power supply, the data input end 4-3 is connected with the data output end 2-4 of the network module 2, the time data output end 3-5 of the clock module 3, the laser positioning data output end 5-5 of the laser positioning module 5 and the operation data output end 6-4 of the operation module 6, the relative position or absolute position data of the device and other devices, which is obtained by receiving information, time data, laser positioning data and operation of other devices or a host device 13, the data output end 4-4 is connected with the data input end 2-3 of the network module 2 and the operation data input end 6-3 of the operation module 6, and the data of the device is respectively transmitted to other devices and the host device 13 for data interaction or transmitted to the operation module 6 for calculating the relative position or absolute position between the device and other devices or the partial amplifier special sensor.
The laser positioning module 5 is a height information detection module and uses the height position data of the laser measuring device. The working power supply ends 5-1 and 5-2 are respectively connected to ends 1-3 and 1-4 of the power supply module 1, the power supply module 1 provides working power supply, the laser positioning trigger end 5-3 is connected with the time recording trigger end 3-4 of the clock module 3, after the laser positioning is completed and the height data of the device is acquired, the clock module 3 is triggered to record time, the height data of the device is transmitted to the storage module 4 through the laser positioning data output end 5-5, meanwhile, the clock module 3 transmits the time data to the storage module 4 through the time data output end 3-5, the laser ranging trigger end 5-4 is connected with the clock recording trigger end 3-3 of the clock module 3, the laser ranging trigger signal of the clock module 3 is received periodically, and the height information of the laser ranging acquisition device is triggered.
The operation module 6 is a position identification device position calculation module, and is used for calculating the relative position and the absolute position of the position identification device. The working power supply ends 6-1 and 6-2 are respectively connected to the ends 1-3 and 1-4 of the power supply module 1, the power supply module 1 provides working power supply, the operation data input end 6-3 is connected with the data output end 4-4 of the storage module to obtain the height position, time difference data and GIS equipment size data of other devices, the relative position or the absolute position of different devices is calculated, the operation data output end 6-4 is connected with the data input end 4-3 of the storage module 4, and the operation result is sent to the storage module 4 to be stored.
The signal generating module 7 is a detection signal generating module, and is used for actively generating a detection signal to measure the relative positions of different devices. The working power supply ends 7-1 and 7-2 are respectively connected to ends 1-3 and 1-4 of the power supply module 1, the power supply module 1 provides working power supply, the detection signal trigger ends 7-3 and 7-4 are respectively connected with trigger short-circuit ends 9-2 and 9-3 of the signal switch 9, the detection signal trigger ends 7-3 and 7-4 are connected in a short-circuit mode by pressing down the signal switch 9 to trigger and generate detection signals, the detection signal output end 7-5 is connected with a high-speed cable interface 10 to send detection signals to the partial amplifier ultrahigh frequency sensor through the high-speed cable interface 10, the detection output signal trigger time recording end 7-6 is connected with a clock recording trigger end 3-3 of the time module 3, and when the signal switch 9 triggers the signal generation module 7 to form detection signals, the detection output signal trigger time recording end 7-6 sends signals to the clock recording trigger end 3-3 of the time module 3 to record time.
The signal detection module 8 is a detection signal detection module, and is configured to detect detection signals sent by other position identification devices, and trigger calculation of relative positions of the position identification device and the other position identification devices. The working power supply ends 8-1 and 8-2 are respectively connected to the ends 1-3 and 1-4 of the power supply module 1, the power supply module 1 provides working power supply, the detection signal input end 8-4 is connected with the high-speed cable interface 10, the detection signal sent by the partial discharge ultrahigh frequency sensor is received through the high-speed cable interface 10, the detection input signal trigger time recording end 8-5 is connected with the clock recording trigger end 3-3 of the time module 3, and after the signal detection module 8 detects the detection signal input by the partial discharge ultrahigh frequency sensor, the detection input signal trigger time recording end 8-5 sends a signal to the clock recording trigger end 3-3 of the time module 3 to trigger the time recording module 3 to record time.
The signal switch 9 is a button short-circuit switch, and after the short-circuit button 9-1 is pressed down, the trigger short-circuit ends 9-2 and 9-3 are connected to form a passage.
One end of the high-speed cable interface 10 is connected with a detection signal output end 7-5 of the signal generation module 7 and a detection signal input end 8-4 of the signal detection module 8, and the other end of the high-speed cable interface is connected with the partial discharge ultrahigh frequency sensor to provide a channel for a detection signal to flow through the partial discharge ultrahigh frequency sensor.
Specifically, as shown in fig. 3, the location identification device is connected to the host device 13 through the network module 2. The host device 13 is various microcomputer systems including a computer, a mobile phone, a single chip microcomputer system, etc., and can establish a working network with the network module 2 through a wireless network, check the running state and distribution condition of the position identification device, and receive the alarm of the position identification device.
Referring to fig. 4-8, fig. 4 is a flowchart illustrating a method for identifying a spatial location according to a third embodiment of the present invention.
The invention provides a space position identification method, which is applied to a position identification device and relates to an partial discharge ultrahigh frequency sensor, wherein the position identification device is connected with the partial discharge ultrahigh frequency sensor, and the method comprises the following steps:
In the embodiment of the invention, the clock module 3 sends a trigger signal to the laser positioning trigger end 5-3 of the laser positioning module 5 through the time recording trigger end 3-4 regularly, and the trigger laser positioning module 5 measures the height position of each partial discharge ultrahigh frequency sensor.
In a specific embodiment, after the measurement is completed, the laser positioning module 5 sends a signal to the clock recording trigger terminal 3-3 of the clock module 3 through the laser ranging trigger terminal 5-4, the clock module 3 is triggered to record time information, meanwhile, the laser positioning module 5 transmits height data of each partial discharge ultrahigh frequency sensor to the storage module 4 through the data input terminal 4-3 through the laser positioning data output terminal 5-5, after the clock module 3 finishes recording the time data, the time data input terminal 4-3 is transmitted to the storage module 4 through the time data output terminal 3-5, the storage module 4 forms information composed of sensor height data and time data, and the data input terminal 2-3 is transmitted to the network module 2 through the data output terminal 4-4.
In a specific embodiment, as shown in fig. 5, three position identification devices a, B, and C transmit information to each other, receive information of other devices through receiving antennas 11A, 11B, and 11C, respectively, and transmit the information to network modules 2A, 2B, and 2C, transmit information input data input terminals 4A-3, 4B-3, and 4C-3 of other devices to storage modules 4A, 4B, and 4C through data output terminals 2A-4, 2B-4, and 2C-4, transmit time recording trigger signals to clock recording trigger terminals 3A-3, 3B-3, and 3C-3 through network information trigger terminals 2A-5, 2B-5, and 2C-5, record times of receiving information of other devices, and transmit time data to storage modules 4A-3, 4B-3, and 4C-3 through time data output terminals 3A-5, 3B-5, and 3C-5.
Thus, the memory module 4A records a time height matrix [ A ]]The memory module 4B records a time height matrix [ B ]]The memory module 4C records a time height matrix [ C ]]Wherein the time height matrix [ A]Record [ H A ,H B ,H C ,T AB ,T AC ,T B ,T C ]Time height matrix [ B ]]Record [ H A ,H B ,H C ,T BA ,T BC ,T A ,T C ]Time height matrix [ C]Record [ H A ,H B ,H C ,T CB ,T CA ,T A ,T B ]，H A As height data of the apparatus A, H B Is a deviceHeight data of B, H C As height data of the device C, T A Time of sending out information for device A, T B Time of sending out information for device B, T C Time of sending out information for device C, T AB Time of reception of device B information for device A, T AC Time of reception of device C information, T, for device A BA Time of reception of device A information for device B, T BC Time of reception of device C information, T, for device B CA Time of reception of device A information, T, for device C CB Is the time at which device C receives the information of device B.
And 204, calculating an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor according to the time height matrix.
Optionally, step 204 comprises the following steps S11-S14:
s11, calculating a time difference between the receiving measurement time and the sending measurement time;
s12, calculating a time product of the light speed and the time difference value;
s13, calculating coordinate axis information corresponding to the relative positions of the partial discharge ultrahigh frequency sensors by adopting the time product value and the height data;
s14, a coordinate axis matrix corresponding to the relative position of each partial discharge ultrahigh frequency sensor is constructed according to the coordinate axis information, and an absolute position coordinate matrix of the partial discharge ultrahigh frequency sensor is determined.
It should be noted that the sending measurement time is a time for sending information, and the receiving measurement time is a time for receiving information. The partial discharge ultrahigh frequency sensors correspond to a device A, a device B and a device C respectively.
In a specific embodiment, the relative position between device a and device B is calculated as follows:
D AB ＝c*(T BA -T A )
wherein c is the speed of light, T BA Time of reception of device A information for device B, T A The time at which the information is sent for device a.
By giving a preset to the coordinate information of the edgemost deviceThe value, is generally set to (0, z) A ) Then calculating the coordinate information of the adjacent devices by the time product value and the height data, iteratively calculating the relative position between the devices, and constructing a coordinate axis matrix corresponding to the relative position of each partial discharge ultrahigh frequency sensor, thereby determining the absolute position coordinate matrix [ Z ] of a certain partial discharge ultrahigh frequency sensor]。
Optionally, step S13 includes the following steps S131-S132:
s131, setting an x-axis coordinate and a y-axis coordinate of the first local ultrahigh frequency sensor as a preset value x-axis coordinate and a preset value y-axis coordinate respectively;
s132, calculating x-axis coordinates and y-axis coordinates corresponding to the second partial discharge ultrahigh frequency sensor and the third partial discharge ultrahigh frequency sensor respectively by adopting the time product value and the height data corresponding to the first partial discharge ultrahigh frequency sensor, the second partial discharge ultrahigh frequency sensor and the third partial discharge ultrahigh frequency sensor respectively, and determining coordinate axis information corresponding to the relative position between the partial discharge ultrahigh frequency sensors.
The first partial discharge uhf sensor corresponds to device a, the second partial discharge uhf sensor corresponds to device B, and the third partial discharge uhf sensor corresponds to device C.
In an embodiment, device A is set to a preset value x-axis coordinate and a preset value y-axis coordinate, both of which are 0, so that the coordinate information of device A is (0, z) A ) Calculating x corresponding to device B B And y B Calculating x corresponding to the device C C And y C Then, coordinate axis information corresponding to the relative positions of the partial discharge ultrahigh frequency sensors or the devices can be iteratively calculated, and the calculation formula is as follows:
wherein D is AB Is the distance between device A and device B, D BC Is the distance between device B and device C, D AC Is the distance between device A and device BAnd c is the speed of light.
And 205, responding to the input GIS equipment size data, and constructing a GIS equipment size matrix, wherein the GIS equipment size matrix comprises absolute position information of a GIS equipment insulating disc.
Optionally, the method comprises the following step S21:
and S21, placing the partial discharge ultrahigh frequency sensor in an insulating disc of GIS equipment.
In a specific embodiment, the position identification device is installed on the partial discharge ultrahigh frequency sensor, and the partial discharge ultrahigh frequency sensor is installed in the GIS equipment insulating disc. A GIS device is provided with a plurality of GIS device insulating discs, and a partial discharge ultrahigh frequency sensor layout diagram can be formed by connecting the GIS device insulating discs.
And step 206, comparing the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the size matrix of each GIS device to generate a partial discharge ultrahigh frequency sensor layout diagram.
Optionally, step 206 comprises the following steps S31-S33:
s31, comparing coordinate information corresponding to the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with coordinate information corresponding to the absolute position information of a GIS equipment insulating disc in a GIS equipment size matrix;
s32, if the coordinate information is consistent, determining the type of the GIS equipment according to the GIS equipment size matrix, and generating a GIS equipment wiring diagram and a local ultrahigh frequency sensor layout diagram;
and S33, if the coordinate information is inconsistent, selecting the residual GIS equipment size matrix as a new GIS equipment size matrix, and skipping to execute the step of comparing the coordinate information corresponding to the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the coordinate information corresponding to the absolute position information of the GIS equipment insulating disc in the GIS equipment size matrix.
In the embodiment, as shown in fig. 7, the working network constructed by the host device 13 and the network module 2 is used to transmit the GIS device size data to the network module 2 through the receiving antenna 11, and then the GIS device size data is transmitted to the storage through the data output terminal 2-4 and the data input terminal 4-3A storage module 4, a GIS equipment size matrix G is constructed in the storage module 4]. GIS device size matrix [ G ]]Recording absolute position information [ X ] of GIS equipment insulating disc G ,Y G ,Z G ]，X G 、Y G 、Z G The coordinate of the x axis, the y axis and the z axis of a component which can be provided with the partial discharge ultrahigh frequency sensor in the GIS equipment respectively corresponds to the coordinate of the x axis, the y axis and the z axis of the component.
Comparing the absolute position matrix [ Z ] of the device with the GIS equipment size matrix [ G ], if the coordinate information is consistent, determining the position of the GIS equipment insulating disc based on the installation position of the partial discharge ultrahigh frequency sensor, connecting the GIS equipment insulating disc, knowing the type of the GIS equipment, and forming a GIS equipment wiring diagram, thereby automatically generating a partial discharge ultrahigh frequency sensor layout diagram. If the coordinate information is inconsistent, the installation position of the partial discharge ultrahigh frequency sensor is not on the GIS equipment insulating disc, a new GIS equipment size matrix [ G ] needs to be selected again, and then the absolute position matrix [ Z ] of the device and the GIS equipment size matrix [ G ] are compared until the compared coordinate information is consistent.
Optionally, the method further comprises the following steps S41-S44:
s41, responding to the received updating trigger information, and measuring the updating height data of the partial discharge ultrahigh frequency sensor;
s42, comparing the height data and the data measurement time with the updated height data and the updated data measurement time respectively;
s43, if the data are consistent, determining that the partial discharge ultrahigh frequency sensor is in the original position and unchanged;
and S44, if the data are inconsistent, determining that the partial discharge ultrahigh frequency sensor shifts, and generating shift alarm information.
In a specific embodiment, as shown in fig. 8, the clock module 3 periodically sends a trigger signal to the laser positioning trigger terminal 5-3 of the laser positioning module 5 through the time recording trigger terminal 3-4, and triggers the laser positioning module 5 to measure the height position of the device.
After the measurement is finished, the laser positioning module 5 sends a signal to the clock recording trigger end 3-3 of the clock module 3 through the laser ranging trigger end 5-4 to trigger the clock module 3 to record time information, meanwhile, the laser positioning module 5 transmits the height data of the device to the storage module 4 through the data input end 4-3 through the laser positioning data output end 5-5, and the clock module 3 transmits the updated data to the data input end 4-3 of the measured time data of the measurement data to the storage module 4 through the data output end 3-5 after the time data is recorded by the clock module 3.
The storage module 4 forms information consisting of partial discharge ultrahigh frequency sensor updating height data and updating data measurement time data, the data input end 2-3 is transmitted to the network module 2 through the data output end 4-4, and the network module transmits the information to the host device 13 through the transmitting antenna 11.
The host device 13 generates a sensor displacement alarm for the case where the data changes significantly based on the updated data measurement time, the updated height data, and the last height data and the data measurement time.
The method comprises the steps of measuring height data of each partial discharge ultrahigh frequency sensor by responding to received trigger information; generating a time height matrix by adopting each height data and data measurement time; calculating an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor according to the time height matrix; responding to the input GIS equipment size data, and constructing a GIS equipment size matrix, wherein the GIS equipment size matrix comprises absolute position information of a GIS equipment insulating disc; and comparing the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the size matrix of each GIS device to generate a partial discharge ultrahigh frequency sensor layout diagram. The method solves the problems that in the prior art, the position parameters of the sensor are acquired in a manual measurement mode on the inspection occasion needing the position parameters of the sensor and then input into a monitoring or detecting device for analysis and calculation; when the sensor position parameters are needed to construct the sensor stationing information graph, manual drawing is needed. Therefore, the spatial position information of the sensor has a large error and low accuracy.
The invention automatically calculates the absolute position of the sensor installed on the online monitoring device and the relative position of the sensor installed in the live test, provides important parameters for abnormal partial discharge investigation and positioning, completely avoids the operation of manually measuring the distance of the sensor in the abnormal partial discharge investigation process of GIS equipment, effectively reduces the measurement error, and improves the working efficiency and the reliability of the result.
Referring to fig. 9, fig. 9 is a block diagram of a spatial location identification system according to a fourth embodiment of the present invention.
The invention provides a space position identification system, which is applied to a position identification device and relates to an partial discharge ultrahigh frequency sensor, wherein the position identification device is connected with the partial discharge ultrahigh frequency sensor, and the system comprises:
a height data module 901, configured to measure height data of each partial discharge ultrahigh frequency sensor in response to the received trigger information;
a time height matrix module 902, configured to generate a time height matrix by using each height data and data measurement time;
an absolute position coordinate matrix module 903, configured to calculate an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor according to the time height matrix;
an absolute position information module 904, configured to respond to the input size data of each GIS device, and construct a GIS device size matrix, where the GIS device size matrix includes absolute position information of a GIS device insulating disc;
and a local discharge ultrahigh frequency sensor layout diagram module 905, configured to compare the absolute position coordinate matrix of each local discharge ultrahigh frequency sensor with each GIS device size matrix, and generate a local discharge ultrahigh frequency sensor layout diagram.
Optionally, the data measurement time comprises an outgoing measurement time and a received measurement time; the time height matrix module 902 includes:
the receiving and measuring time submodule is used for recording the sending measuring time of the measured height data and the receiving measuring time of the receiving end;
and the time height matrix submodule is used for constructing a time height matrix by adopting each height data, sending out the measurement time and receiving the measurement time.
Optionally, the absolute position coordinate matrix module 903 comprises:
a time difference sub-module for calculating a time difference between the time of receiving the measurement and the time of sending the measurement;
the time multiplication value submodule is used for calculating a time multiplication value of the light speed and the time difference value;
the coordinate axis information submodule is used for calculating coordinate axis information corresponding to the relative position between each partial discharge ultrahigh frequency sensor by adopting the time product value and the height data;
and the absolute position coordinate matrix submodule is used for constructing a coordinate axis matrix corresponding to the relative position of each partial discharge ultrahigh frequency sensor according to the coordinate axis information and determining the absolute position coordinate matrix of the partial discharge ultrahigh frequency sensor.
Optionally, the coordinate axis information submodule includes:
the preset value y-axis coordinate submodule is used for respectively setting the x-axis coordinate and the y-axis coordinate of the first local ultrahigh frequency sensor as a preset value x-axis coordinate and a preset value y-axis coordinate;
and the coordinate axis information determining submodule is used for calculating the x-axis coordinate and the y-axis coordinate respectively corresponding to the second partial discharge ultrahigh frequency sensor and the third partial discharge ultrahigh frequency sensor by adopting the time multiplication value and the height data respectively corresponding to the first partial discharge ultrahigh frequency sensor, the second partial discharge ultrahigh frequency sensor and the third partial discharge ultrahigh frequency sensor, and determining coordinate axis information corresponding to the relative position between the partial discharge ultrahigh frequency sensors.
Optionally, the system comprises:
and the insulating plate module is used for placing the partial discharge ultrahigh frequency sensor in the GIS equipment insulating plate.
Optionally, the partial discharge ultrahigh frequency sensor layout diagram module 905 includes:
the coordinate information comparison submodule is used for comparing coordinate information corresponding to the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with coordinate information corresponding to the absolute position information of a GIS equipment insulating disc in a GIS equipment size matrix;
the coordinate information consistency submodule is used for determining the type of the GIS equipment according to the GIS equipment size matrix and generating a GIS equipment wiring diagram and a local ultrahigh frequency sensor layout diagram if the coordinate information is consistent;
and the coordinate information inconsistency submodule is used for selecting the residual GIS equipment size matrix as a new GIS equipment size matrix if the coordinate information is inconsistent, and skipping to execute the step of comparing the coordinate information corresponding to the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the coordinate information corresponding to the absolute position information of the GIS equipment insulating disc in the GIS equipment size matrix.
Optionally, the system comprises:
the updating height data submodule is used for responding to the received updating trigger information and measuring the updating height data of the partial discharge ultrahigh frequency sensor;
the data measurement time comparison submodule is used for comparing the height data and the data measurement time with the updated height data and the updated data measurement time respectively;
the data consistency submodule is used for determining that the partial discharge ultrahigh frequency sensor is in the original position and is unchanged if the data are consistent;
and the data inconsistency submodule is used for shifting the partial discharge ultrahigh frequency sensor and generating shift alarm information if the data is inconsistent.
The fifth embodiment of the present invention further provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program; the computer program, when executed by a processor, causes the processor to perform the spatial location identification method of any of the embodiments described above.
Sixth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where when the computer program is executed, the spatial position identification method according to any one of the above embodiments is implemented.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A space position identification method is applied to a position identification device and relates to an partial discharge ultrahigh frequency sensor, the position identification device is connected with the partial discharge ultrahigh frequency sensor, and the method comprises the following steps:
responding to the received trigger information, and measuring height data of each partial discharge ultrahigh frequency sensor;
generating a time height matrix by adopting each height data and data measurement time;
calculating an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor according to the time height matrix;
responding to the input GIS equipment size data, and constructing a GIS equipment size matrix, wherein the GIS equipment size matrix comprises absolute position information of a GIS equipment insulating disc;
and comparing the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the size matrix of each GIS device to generate a partial discharge ultrahigh frequency sensor layout diagram.
2. The spatial location identification method of claim 1, wherein the data measurement time comprises an outgoing measurement time and a received measurement time; the step of generating a time-height matrix using each of the height data and the data measurement time includes:
recording the sending measurement time of the height data and the receiving measurement time of the receiving end;
and constructing a time height matrix by adopting each height data, the sending measurement time and the receiving measurement time.
3. The method according to claim 2, wherein the step of calculating the absolute position coordinate matrix of each of the partial discharge uhf sensors according to the time height matrix comprises:
calculating a time difference between the receive measurement time and the transmit measurement time;
calculating a time product of the speed of light and the time difference;
calculating coordinate axis information corresponding to the relative position between the partial discharge ultrahigh frequency sensors by adopting the time product value and the height data;
and constructing a coordinate axis matrix corresponding to the relative position of each partial discharge ultrahigh frequency sensor according to the coordinate axis information, and determining an absolute position coordinate matrix of the partial discharge ultrahigh frequency sensor.
4. The spatial position identifying method according to claim 3, wherein said step of calculating coordinate axis information corresponding to a relative position between each of said partial discharge ultrahigh frequency sensors by using said time product and said height data comprises:
setting the x-axis coordinate and the y-axis coordinate of the first local ultrahigh frequency sensor as a preset x-axis coordinate and a preset y-axis coordinate respectively;
and calculating x-axis coordinates and y-axis coordinates corresponding to the second partial discharge ultrahigh frequency sensor and the third partial discharge ultrahigh frequency sensor respectively by adopting the time multiplication value and height data corresponding to the first partial discharge ultrahigh frequency sensor, the second partial discharge ultrahigh frequency sensor and the third partial discharge ultrahigh frequency sensor respectively, and determining coordinate axis information corresponding to the relative position between the partial discharge ultrahigh frequency sensors.
5. The spatial location identification method of claim 1, further comprising:
and placing the partial discharge ultrahigh frequency sensor in the GIS equipment insulating disc.
6. The method according to claim 5, wherein the step of comparing the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the size matrix of each GIS device to generate a partial discharge ultrahigh frequency sensor layout diagram comprises:
comparing coordinate information corresponding to the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with coordinate information corresponding to absolute position information of a GIS equipment insulating disc in the GIS equipment size matrix;
if the coordinate information is consistent, determining the type of the GIS equipment according to the GIS equipment size matrix, and generating a GIS equipment wiring diagram and a local ultrahigh frequency sensor layout diagram;
and if the coordinate information is inconsistent, selecting the remaining GIS equipment size matrix as a new GIS equipment size matrix, and skipping to execute the step of comparing the coordinate information corresponding to the absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor with the coordinate information corresponding to the absolute position information of a GIS equipment insulating disc in the GIS equipment size matrix.
7. The method according to claim 1, further comprising:
responding to the received updating trigger information, and measuring the updating height data of the partial discharge ultrahigh frequency sensor;
comparing the height data and the data measurement time with the updated height data and the updated data measurement time respectively;
if the data are consistent, determining that the partial discharge ultrahigh frequency sensor is in the original position and unchanged;
and if the data are inconsistent, determining that the partial discharge ultrahigh frequency sensor shifts, and generating shift alarm information.
8. The utility model provides a spatial position identification system, its characterized in that is applied to position identification device, relates to the local and puts the superfrequency sensor, position identification device with the local is put the superfrequency sensor and is connected, the system includes:
the height data module is used for responding to the received trigger information and measuring height data of each partial discharge ultrahigh frequency sensor;
the time height matrix module is used for adopting each height data and data measurement time to generate a time height matrix;
the absolute position coordinate matrix module is used for calculating an absolute position coordinate matrix of each partial discharge ultrahigh frequency sensor according to the time height matrix;
the GIS equipment size matrix comprises absolute position information of an insulating disc of the GIS equipment;
and the local discharge ultrahigh frequency sensor layout diagram module is used for comparing the absolute position coordinate matrix of each local discharge ultrahigh frequency sensor with the GIS equipment size matrix to generate a local discharge ultrahigh frequency sensor layout diagram.
9. An electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to perform the steps of the spatial location identification method according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when executed, carries out the spatial position identification method according to any one of claims 1 to 7.
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