CN115841741A - Power transmission and transformation maintenance dynamic height limit management and control method, system and device based on Beidou system - Google Patents
Power transmission and transformation maintenance dynamic height limit management and control method, system and device based on Beidou system Download PDFInfo
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Abstract
The invention provides a power transmission and transformation maintenance dynamic height limit management and control method, a power transmission and transformation maintenance dynamic height limit management and control system and a power transmission and transformation maintenance dynamic height limit management and control device based on a Beidou system.
Description
Technical Field
The invention relates to the technical field of engineering safety control, in particular to a Beidou system-based power transmission and transformation maintenance dynamic height limit control method, system and device.
Background
The conditions of live construction, cross construction and the like often occur in the operation of the power transmission and transformation overhaul construction process. Due to the influence of various factors, the accurate height of electrified bodies such as overhead lines and the like is difficult to judge on site, and great risk is brought to the operation of special vehicles such as cranes, lifters, bucket arm vehicles and the like.
In recent years, some typical safety accidents caused by the fact that special vehicles are ultrahigh appear in the power transmission and transformation construction process of a system, the height limit of the special vehicles by the existing safety measures can be judged only by the traditional means such as manual observation and the height of a safety rope, and accurate and quantitative reference basis is lacked.
In the construction process of electric power system engineering, the existing safety measures and facilities usually only limit the movement range of constructors and equipment in a plane and do not relate to the limitation of the height of a construction space, however, in the construction process of many electric power engineering, equipment such as cranes, lifters, insulating bucket arm trucks and the like are required to be used, the existing safety measures and facilities cannot limit the movement height range of the constructors and equipment, ultrahigh construction often occurs, but the constructors do not know the equipment and great potential safety hazards exist.
The invention provides a reliable and safe control measure and means based on Beidou positioning for special operation vehicles and personnel, and can accurately monitor and warn the spatial positions and operation states of the operation vehicles and the personnel.
Disclosure of Invention
In view of this, embodiments of the present invention provide a power transmission and transformation maintenance dynamic height limit management and control method, system, and device based on the beidou system, so as to eliminate or improve one or more defects existing in the prior art, and solve the problem that safety monitoring cannot be realized in the height direction during maintenance operation construction of special operation vehicles and personnel.
The technical scheme of the invention is as follows:
on one hand, the invention provides a power transmission and transformation maintenance dynamic height limit control method based on a Beidou system, the method is used for operating on height limit control equipment, the height limit control equipment is connected with the Beidou system, the height limit control equipment is connected with a laser range finder and a Beidou positioning terminal, and the Beidou positioning terminal is arranged on equipment to be controlled, and the method comprises the following steps:
acquiring distance data and measurement angle data obtained by performing laser ranging on a target limiter in a power transmission and transformation line at a specified point position through the laser range finder, and acquiring a space coordinate of the target limiter according to the distance data, the measurement angle data and a coordinate of the specified point position;
setting a safety distance according to the safety control requirement of the target limiter, and defining a height control range according to the space coordinate of the target limiter and the safety distance;
acquiring a base station observation coordinate and a base station actual coordinate of a differential base station, and acquiring a terminal observation coordinate of the Beidou system to the Beidou positioning terminal;
correcting the terminal observation coordinate based on differential positioning by using the base station observation coordinate and the base station actual coordinate to obtain a terminal actual coordinate of the Beidou positioning terminal;
and monitoring the actual coordinates of the terminal, and giving an alarm prompt when the actual coordinates of the terminal fall into the height limit control range.
In some embodiments, the designated point location is a base, an electric tower or electric transmission and transformation equipment with accurate positioning information marked on the rest of the electric transmission and transformation line, and the coordinates of the designated point location are obtained by obtaining coordinates prestored in the base, the electric tower or the electric transmission and transformation equipment;
or the designated point location is selected in real time in an actual application scene, and differential positioning is carried out on the designated point location based on a Beidou satellite system to obtain the coordinate of the designated point location.
In some embodiments, setting a safe distance according to safety regulation requirements of the target restraint includes:
and setting the safety distance according to the working voltage value of the power transmission and transformation line or the power transmission and transformation equipment, wherein the value of the safety distance is in direct proportion to the working voltage value.
In some embodiments, after setting the safety distance according to the safety control requirement of the target limiter, the method further includes:
determining the radius of a construction equipment operation interval according to the type of power transmission and transformation overhaul services, and defining a height limit control range according to the space coordinate of the target limiter, the radius of the construction equipment operation interval and the safety distance, wherein the sum of the radius of the construction equipment operation interval and the safety distance is used as the safety radius, the space coordinate of the target limiter is used as the circle center, and the height limit control range is defined by the safety radius.
In some embodiments, correcting the terminal observation coordinates based on differential positioning using the base station observation coordinates and the base station actual coordinates includes:
carrying out difference analysis on the observation coordinates of the base station and the actual coordinates of the base station to obtain a positioning error correction amount;
and correcting the terminal observation coordinate according to the error correction amount to obtain a terminal actual coordinate.
In some embodiments, performing difference analysis on the observed coordinates of the base station and the actual coordinates of the base station to obtain a positioning error correction amount includes:
and establishing a pseudo satellite base station with determined position on the ground to simulate a satellite in a Beidou system, and determining the correction quantity of the positioning error according to the coordinate of the pseudo satellite base station, the observation coordinate of the base station and the actual coordinate of the base station.
In some embodiments, the method further comprises:
acquiring an air pressure numerical value of the position of the equipment to be controlled through an air pressure sensor arranged on the equipment to be controlled, and converting the air pressure numerical value into the altitude of the equipment to be controlled;
and acquiring a preset altitude safety range, monitoring the altitude, and giving an alarm prompt when the altitude exceeds the altitude safety range.
On the other hand, the invention also provides a power transmission and transformation maintenance dynamic height limit management and control system based on the Beidou system, which comprises the following components:
the Beidou positioning terminal is arranged on the equipment to be controlled and acquires terminal observation coordinates through a Beidou system;
the laser range finder is used for carrying out laser range finding on a target limiting object in the power transmission and transformation line at a specified point position and positioning the target limiting object;
the reference station is used for implementing differential positioning to obtain positioning error correction by providing actual coordinates and observation coordinates of the reference station;
and the height limit control equipment is connected with the Beidou positioning terminal and the laser range finder and is used for executing the steps of the power transmission and transformation overhaul dynamic height limit control method based on the Beidou system.
In some embodiments, the system further comprises: and the air pressure sensor is connected with the height limiting control equipment and used for acquiring the air pressure value of the position where the to-be-controlled equipment is located and converting the air pressure value into the altitude of the to-be-controlled equipment, so as to monitor the altitude and give an alarm according to a preset altitude safety range.
In another aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method when executing the program.
The invention has the beneficial effects that:
according to the power transmission and transformation maintenance dynamic height limit control method, system and device based on the Beidou system, according to the requirement of safety management specifications, a height limit control range is defined for target limiters in power transmission and transformation lines and equipment, the Beidou system is introduced to accurately position a Beidou positioning terminal arranged on equipment to be controlled, whether the Beidou positioning terminal falls into the height limit control range or not is monitored in real time, once the behavior of exceeding the height limit control range occurs, alarm prompt is immediately carried out, full-automatic and accurate dynamic height limit control in a three-dimensional space is realized, and reliable and safe operation management is provided for special operation vehicles and personnel.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the specific details set forth above, and that these and other objects that can be achieved with the present invention will be more clearly understood from the detailed description that follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a flowchart of a power transmission and transformation overhaul dynamic height limit control method based on a Beidou system according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a power transmission and transformation maintenance dynamic height limit management and control system based on a Beidou system according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following embodiments and the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not so relevant to the present invention are omitted.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.
It is also noted herein that the term "coupled," if not specifically stated, may refer herein to not only a direct connection, but also an indirect connection in which an intermediate is present.
In the process of power transmission and transformation overhaul and construction, live working is performed under many conditions, most equipment runs in a high-voltage or even ultrahigh-voltage state in the process of power grid operation, most high-voltage power transmission lines can reach 500KV, part of extra-high voltage lines can reach 800KV, and even in a common transformer substation, the voltage of the ordinary transformer substation can reach dozens of kilovolts. In these working environments, non-standard operating behaviors tend to pose significant safety hazards to construction work equipment and personnel. In order to avoid potential safety hazards, technicians in the field set detailed construction specifications for power transmission and transformation overhaul, and set safety distances between the power transmission and transformation equipment and the power transmission and transformation equipment in the construction process. However, in the existing specification and the implemented security supervision, the safety range is usually specified only in a two-dimensional space of the earth surface, and a control measure is provided. However, under the condition of high-altitude operation, because the positions and shapes of the power transmission and transformation in a three-dimensional space are complex, the equipment and manual operation are difficult to be effectively controlled, and the potential safety hazard is difficult to be avoided.
The invention provides an aspect, the invention provides a power transmission and transformation maintenance dynamic height limit control method based on a Beidou system, the method is used for running on height limit control equipment, the height limit control equipment is connected to the Beidou system, the height limit control equipment is connected with a laser range finder and a Beidou positioning terminal, the Beidou positioning terminal is arranged on equipment to be controlled, and as shown in fig. 1, the method comprises the following steps of S101-S105:
step S101: the method comprises the steps of obtaining distance data and measurement angle data obtained by carrying out laser ranging on a target limiting object in the power transmission and transformation line at an appointed point position through a laser range finder, and obtaining the space coordinate of the target limiting object according to the distance data, the measurement angle data and the coordinate of the appointed point position.
Step S102: setting a safety distance according to the safety control requirement of the target limiter, and defining a height limit control range according to the space coordinate and the safety distance of the target limiter.
Step S103: and acquiring a base station observation coordinate and a base station actual coordinate of the differential base station, and acquiring a terminal observation coordinate of the Beidou system to the Beidou positioning terminal.
Step S104: and correcting the terminal observation coordinate based on differential positioning by using the base station observation coordinate and the base station actual coordinate to obtain the terminal actual coordinate of the Beidou positioning terminal.
Step S105: and monitoring the actual coordinates of the terminal, and giving an alarm prompt when the actual coordinates of the terminal fall into the height limit control range.
In step S101, in order to implement height limit control in the three-dimensional space, a target limiter having safety control requirements in the power transmission and transformation line needs to be located, and then height limit control in the construction process is performed based on a control standard. Specifically, in this example, the laser ranging method is first used to measure the distance of the target restriction object, so as to determine the coordinates of the target restriction object in the space. The designated point location is a known accurate positioning point, in the practical application process, the Beidou satellite system can be used for carrying out on-site positioning, and equipment or point location which is used for known accurate positioning in the power transmission and transformation line can be directly selected as the designated point location. The target limiting object is measured at the specified point, and the actual positioning coordinate of the target limiting object in the three-dimensional space can be directly calculated according to the distance data and the measurement angle data.
In some embodiments, the designated point location is a base, an electric tower or electric transmission and transformation equipment which is pre-marked with accurate positioning information in the electric transmission and transformation line, and the coordinates of the designated point location are obtained by obtaining coordinates pre-stored in the base, the electric tower or the electric transmission and transformation equipment. Or the designated point location is selected in real time in an actual application scene, and differential positioning is carried out on the designated point location based on the Beidou satellite system to obtain the coordinate of the designated point location.
In step S102, the power transmission and transformation equipment is required to maintain a predetermined safety distance between the work equipment and the target limiting object in order to ensure safe construction. The safety distance is set based on the type of subject and the operating state of the target restriction. In some embodiments, setting the safe distance according to the safety regulation requirement of the target limiter includes: and setting a safety distance according to the working voltage value of the power transmission and transformation line or the power transmission and transformation equipment, wherein the value of the safety distance is in direct proportion to the working voltage value. Specifically, the standard safety distance may be set as follows: the safety distance of a 500kv power line is 5m; the safe distance of a 220 kv power line is 3m; the safety distance of a 110 kv power line is 1.5m; the safe distance of a 35 kv power line is 1m; the safety distance of a 10 kv power line is 0.7m. Furthermore, the safe distance can be set individually according to the requirements of the actual application scene. And defining a height limiting control range in the three-dimensional space by combining the safety distance according to the positioning coordinate of the target limiting object in the three-dimensional space.
In some embodiments, after setting the safety distance according to the safety regulation requirement of the target limiter, the method further includes:
determining the radius of a construction equipment operation interval according to the type of the power transmission and transformation overhaul service, and defining a height limit control range according to the space coordinate of a target limiter, the radius of the construction equipment operation interval and the safety distance, wherein the sum of the radius of the construction equipment operation interval and the safety distance is used as the safety radius, the space coordinate of the target limiter is used as the circle center, and the height limit control range is defined by the safety radius.
In step S103, step S104 and step S105, the actual terminal coordinates of the Beidou positioning terminal, that is, the actual coordinates of the device to be controlled are determined based on the differential positioning technology, and whether the device to be controlled is within the height limit control range is determined by monitoring the actual coordinates of the device to be controlled.
The differential positioning method in the GPS system is referred to, and the principle is as follows: at a fixed (platform) location, the 'precise position data' is acquired by measuring the ground, then the 'measured position data' of the platform is transmitted, a c/A code user receiver is used for receiving the data information, and the 'GPS positioning error correction quantity' can be obtained by the difference analysis of the 'measured position data' and the 'precise position data'. These "positioning error corrections" are then propagated through the radio transmitter, and the receivers of other c/a code users in the area just receive and correct the positioning data of the receivers. The use of a "differential GPS system" allows the c, a code user receiver to be positioned more accurately than 10 times as accurately as previously.
The positioning precision can be improved through the differential positioning technology, and the differential positioning technology mainly comprises a pseudo-range single-point positioning algorithm and a carrier phase measurement algorithm. The pseudo satellite technology in the Beidou navigation and positioning system refers to the navigation algorithm in the traditional global positioning system. The positioning accuracy of the system is improved by satellite receiving stations on the ground. The user can receive the Beidou signals and the satellite signals simultaneously, and quick positioning can be achieved. If the number of satellites is more than two, a four-star satellite positioning system can be formed together with the Beidou system. The receiving station 1 calculates the corresponding distance by measuring the distance of 4 stars, typically by measuring the time of signal transmission multiplied by the speed of light. Pseudolite navigational positioning technology is a simulated GPS navigational positioning system in which pseudolites are ground base stations, i.e., receiving stations, used to simulate satellites transmitting GPS signals and pseudolites simulate satellite signal reception.
In this embodiment, for the beidou system, in the setting process of the satellite base station, differential positioning can be realized by setting one of the base stations as a differential base station. The actual distance from the differential satellite can be calculated by knowing the precise coordinates of the differential satellite, and then the actual distance is compared with the observed pseudo-range and corrected, and finally the real-time data is sent out. And performing positioning calculation by using the corrected pseudo range, and finally solving the accurate position of the user receiver. Common errors such as satellite clock bias, ephemeris error, ionosphere error and troposphere error can disappear through correction, and therefore system positioning accuracy can be improved well.
In some embodiments, the correcting the terminal observation coordinates based on differential positioning by using the base station observation coordinates and the base station actual coordinates includes steps S201 to S202:
step S201: and carrying out difference analysis on the observation coordinates of the base station and the actual coordinates of the base station to obtain the correction quantity of the positioning error.
Step S202: and correcting the terminal observation coordinate according to the error correction amount to obtain the actual terminal coordinate.
In some embodiments, performing difference analysis on the observed coordinates of the base station and the actual coordinates of the base station to obtain a positioning error correction amount includes: and establishing a pseudo satellite base station with determined position on the ground to simulate a satellite in the Beidou system, and determining the correction amount of the positioning error according to the coordinates of the pseudo satellite base station, the observation coordinates of the base station and the actual coordinates of the base station.
The differential positioning can not overcome the defects caused by poor geometrical figures of satellite constellations no matter how to improve the navigation precision, reliability and integrity. In the existing satellite configuration scheme, once one satellite fails or cannot receive signals for some reason, the defect of improper geometric configuration is further highlighted. In order to ensure the accuracy and the reliability of the Beidou system in special use in some specific areas, a pseudolite is introduced in the embodiment, and a fixed reference station similar to the Beidou satellite is established in the area to perform the function of the Beidou satellite.
Pseudolites are, in essence, only special schemes for differential positioning applications. The pseudolite message format is the same as that of other differential satellites.
The monitoring station receives all visible Beidou satellite signals and pseudolite signals and compares them to known monitoring station positions and pseudolite antenna positions. The monitoring station controls the pseudolite transmission and provides differential messages. The user equipment can simultaneously receive the Beidou satellite signals and the pseudo satellite signals.
In some embodiments, the method further comprises steps S301 to S302:
step S301: the method comprises the steps of acquiring an air pressure value of the position of a device to be controlled through an air pressure sensor arranged on the device to be controlled, and converting the air pressure value into the altitude of the device to be controlled.
Step S302: and acquiring a preset altitude safety range, monitoring the altitude, and giving an alarm when the altitude exceeds the altitude safety range.
In order to provide a diversified height limit management and control scheme, a pressure sensor is further introduced in the embodiment for measuring the altitude, and in some special operation processes, the altitude is monitored to ensure the safety of operators and equipment.
In the practical application process, monitoring equipment can be arranged, and manual access is adopted for auxiliary observation.
On the other hand, the invention also provides a power transmission and transformation maintenance dynamic height limit management and control system based on the Beidou system, as shown in fig. 2, comprising:
the Beidou positioning terminal is arranged on the equipment to be controlled and acquires terminal observation coordinates through a Beidou system; the laser range finder is used for performing laser range finding on a target limiting object in the power transmission and transformation line at a specified point position and positioning the target limiting object; the reference station is used for implementing differential positioning to obtain a positioning error correction quantity by providing actual coordinates and observation coordinates of the reference station; and the height limit control equipment is connected with the Beidou positioning terminal and the laser range finder and is used for executing the power transmission and transformation maintenance dynamic height limit control method based on the Beidou system in the steps S101-S105.
In some embodiments, the system further comprises: the atmospheric pressure sensor is connected with height limit management and control equipment and is used for acquiring an atmospheric pressure value of the position where the management and control equipment is located and converting the atmospheric pressure value into the altitude of the position where the management and control equipment is located so as to monitor the altitude and give an alarm according to a preset altitude safety range.
In some embodiments, the height limiting control system may set an alarm to send an alarm prompt tone to perform safety precaution.
In an embodiment, a height-limiting control device is provided, which comprises a mobile station (equivalent to a beidou positioning terminal), a reference station, and a movable monitor (equivalent to a height-limiting control device), wherein each module (component) is connected with a control circuit through wireless communication software for working. The device can display the state information of the label, such as the height difference of the label relative to the line and the ground, the line height, the safety distance, the battery power and the like in real time. When the height difference of the label relative to the line is smaller than the safe distance, the data display of the host and the alarm changes color, and the alarm gives an alarm prompt tone. When the mobile tag, the alarm and the host are in communication failure, the alarm and the host display corresponding state prompt icons, the alarm gives out alarm prompt tones, and safety early warning and alarm distance can be set.
In another aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method when executing the program.
According to the power transmission and transformation maintenance dynamic height limit control method, system and device based on the Beidou system, the height and safety distance range of a charged body or line can be set according to the characteristics of lifting construction machinery such as cranes and bucket arm trucks used in power transmission and transformation maintenance construction, and the precision can reach centimeter level. The device can remotely monitor the special operation dynamic state of each production field by using a mobile monitor or a mobile phone, and immediately sends out an alarm signal and pushes an alarm message once the action of exceeding the limit height occurs. The research and development of the device meet the requirement of high space limit in electric power safety work regulations, provide reliable and safe control measures and means for special operation vehicles, and protect the personal safety of field operators.
In summary, according to the power transmission and transformation maintenance dynamic height limit management and control method, system and device based on the Beidou system, according to the requirements of safety management specifications, a height limit management and control range is defined for target limiting objects in power transmission and transformation lines and equipment, the Beidou system is introduced to accurately position a Beidou positioning terminal arranged on equipment to be managed and controlled, whether the Beidou positioning terminal falls into the height limit management and control range is monitored in real time, once a behavior exceeding the height limit management and control range occurs, alarm prompt is immediately carried out, so that full-automatic and accurate dynamic height limit management and control in a three-dimensional space are realized, and reliable and safe operation and management is provided for special operation vehicles and personnel.
Those of ordinary skill in the art will appreciate that the various illustrative components, systems, and methods described in connection with the embodiments disclosed herein may be implemented as hardware, software, or combinations of both. Whether this is done in hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed at the same time.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments in the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the embodiment of the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The power transmission and transformation overhaul dynamic height limit control method based on the Beidou system is characterized by being used for running on height limit control equipment, the height limit control equipment is connected to the Beidou system, the height limit control equipment is connected with a laser range finder and a Beidou positioning terminal, and the Beidou positioning terminal is arranged on equipment to be controlled, and the method comprises the following steps:
acquiring distance data and measurement angle data obtained by performing laser ranging on a target limiter in a power transmission and transformation line at a specified point position through the laser range finder, and acquiring a space coordinate of the target limiter according to the distance data, the measurement angle data and a coordinate of the specified point position;
setting a safety distance according to the safety control requirement of the target limiter, and defining a height control range according to the space coordinate of the target limiter and the safety distance;
acquiring a base station observation coordinate and a base station actual coordinate of a differential base station, and acquiring a terminal observation coordinate of the Beidou system to the Beidou positioning terminal;
correcting the terminal observation coordinate based on differential positioning by using the base station observation coordinate and the base station actual coordinate to obtain a terminal actual coordinate of the Beidou positioning terminal;
and monitoring the actual coordinates of the terminal, and giving an alarm prompt when the actual coordinates of the terminal fall into the height limit control range.
2. The power transmission and transformation overhaul dynamic height limit management and control method based on the Beidou system is characterized in that the specified point location is a base, an electric tower or power transmission and transformation equipment with accurate positioning information marked on the surplus marks in a power transmission and transformation line, and the coordinates of the specified point location are obtained by acquiring coordinates prestored in the base, the electric tower or the power transmission and transformation equipment;
or the designated point location is selected in real time in an actual application scene, and differential positioning is carried out on the designated point location based on a Beidou satellite system to obtain the coordinate of the designated point location.
3. The Beidou system-based power transmission and transformation overhaul dynamic height limit management and control method according to claim 1, wherein safety distance is set according to safety management and control requirements of the target limiter, and the method comprises the following steps:
and setting the safety distance according to the working voltage value of the power transmission and transformation line or the power transmission and transformation equipment, wherein the value of the safety distance is in direct proportion to the working voltage value.
4. The Beidou system-based power transmission and transformation overhaul dynamic height limit management and control method according to claim 1, wherein after a safety distance is set according to safety management and control requirements of the target limiter, the method further comprises the following steps:
determining the radius of a construction equipment operation interval according to the type of power transmission and transformation overhaul services, and defining a height limit control range according to the space coordinate of the target limiter, the radius of the construction equipment operation interval and the safety distance, wherein the sum of the radius of the construction equipment operation interval and the safety distance is used as the safety radius, the space coordinate of the target limiter is used as the circle center, and the height limit control range is defined by the safety radius.
5. The power transmission and transformation overhaul dynamic height limit control method based on the Beidou system of claim 1, wherein the step of correcting the terminal observation coordinate based on differential positioning by using the base station observation coordinate and the base station actual coordinate comprises the steps of:
carrying out difference analysis on the observation coordinates of the base station and the actual coordinates of the base station to obtain a positioning error correction amount;
and correcting the terminal observation coordinate according to the error correction amount to obtain a terminal actual coordinate.
6. The power transmission and transformation overhaul dynamic height limit management and control method based on the Beidou system, according to claim 5, wherein the difference analysis is performed on the observation coordinates of the base station and the actual coordinates of the base station to obtain the correction amount of the positioning error, and the method comprises the following steps:
and establishing a pseudo satellite base station with determined position on the ground to simulate a satellite in a Beidou system, and determining the correction quantity of the positioning error according to the coordinate of the pseudo satellite base station, the observation coordinate of the base station and the actual coordinate of the base station.
7. The Beidou system-based power transmission and transformation overhaul dynamic height limit management and control method according to claim 1, further comprising:
acquiring an air pressure numerical value of the position of the equipment to be controlled through an air pressure sensor arranged on the equipment to be controlled, and converting the air pressure numerical value into the altitude of the equipment to be controlled;
and acquiring a preset altitude safety range, monitoring the altitude, and giving an alarm prompt when the altitude exceeds the altitude safety range.
8. The utility model provides a power transmission and transformation overhauls dynamic limit for height management and control system based on beidou system which characterized in that includes:
the Beidou positioning terminal is arranged on the equipment to be controlled and acquires terminal observation coordinates through a Beidou system;
the laser range finder is used for performing laser range finding on a target limiting object in the power transmission and transformation line at a specified point position and positioning the target limiting object;
the reference station is used for implementing differential positioning to obtain a positioning error correction quantity by providing an actual coordinate and an observation coordinate of the reference station;
the height limiting control device is connected with the Beidou positioning terminal, the laser range finder and the reference station, and is used for executing the steps of the Beidou system-based power transmission and transformation maintenance dynamic height limiting control method according to any one of claims 1 to 7.
9. The power transmission and transformation overhaul dynamic height limiting management and control system based on the Beidou system of claim 8, wherein the system further comprises:
and the air pressure sensor is connected with the height limiting control equipment and used for acquiring the air pressure value of the position where the to-be-controlled equipment is located and converting the air pressure value into the altitude of the to-be-controlled equipment, so as to monitor the altitude and give an alarm according to a preset altitude safety range.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1 to 7 are implemented when the processor executes the program.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211463280.0A CN115841741B (en) | 2022-11-22 | 2022-11-22 | Dynamic height limiting control method, system and device in power transmission and transformation overhaul scene based on Beidou system |
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| JP2005339432A (en) * | 2004-05-31 | 2005-12-08 | Mitsubishi Electric Corp | Collision prevention system and on-vehicle device, relay device and position transmitter for pedestrian |
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| CN112379383A (en) * | 2020-11-09 | 2021-02-19 | 云南电网有限责任公司昆明供电局 | Power transmission line channel forest monitoring system and method based on Beidou satellite technology |
| CN114111891A (en) * | 2021-11-09 | 2022-03-01 | 国网辽宁省电力有限公司丹东供电公司 | High-voltage power transmission channel conductor and spanning object safety distance detection early warning system |
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| JP2005339432A (en) * | 2004-05-31 | 2005-12-08 | Mitsubishi Electric Corp | Collision prevention system and on-vehicle device, relay device and position transmitter for pedestrian |
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