CN116738515A - Sensor deployment method, system, equipment and medium based on digital twin model - Google Patents
Sensor deployment method, system, equipment and medium based on digital twin model Download PDFInfo
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- G01R31/1254—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing of components, parts or materials of gas-insulated power appliances or vacuum gaps
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Abstract
The invention discloses a sensor deployment method, a sensor deployment system, sensor deployment equipment and a sensor deployment medium based on a digital twin model. And selecting positioning coordinates from a preset distance fingerprint library based on the initial sensor group, and generating an intermediate positioning set. And judging whether the intersection distribution range between the middle positioning set and the initial positioning set is larger than a preset error value, if so, adjusting the position of an initial sensor in the initial sensor group according to the middle positioning set to generate a target sensor group, and jumping to execute the step of selecting positioning coordinates from a preset distance fingerprint library based on the initial sensor group to generate the middle positioning set. Otherwise, the sensor position corresponding to the initial sensor group is used as the sensor deployment position. The sensor is deployed through the digital twin model, so that missing of key measuring points can be avoided, the number of times of placing unnecessary sensor positions is reduced, and the detection efficiency and the accuracy of detection results are improved.
Description
Technical Field
The invention relates to the technical field of digital twin models, in particular to a sensor deployment method, a system, equipment and a medium based on a digital twin model.
Background
The gas insulated switchgear (Gas Insulated Switchgear, GIS) is used as main equipment of the urban power grid, plays a crucial role in the power supply reliability of the power grid, and is valued by power grid companies. The GIS equipment is produced and manufactured and the potential defect of insulation is possibly left in engineering construction, and with the increase of the operation period, the insulation defects can develop into dangerous discharge channels, so that GIS breakdown faults can be possibly caused, accidents are caused, and economic losses and personal casualties are caused.
The GIS internal insulation defect is usually accompanied with a partial discharge phenomenon, and the partial discharge live detection device is used by an ultrahigh frequency partial discharge detection technology, so that the GIS internal insulation defect is detected during normal operation of the GIS, the health state of GIS equipment can be evaluated in real time on the premise of not affecting the operation of a power grid, hidden danger is discovered in time, and equipment faults are avoided. The digital twin is to fully utilize data such as a physical model, sensor update, operation history and the like, integrate simulation processes of multiple disciplines, multiple physical quantities, multiple scales and multiple probabilities, and complete mapping in a virtual space so as to reflect the full life cycle process of corresponding entity equipment.
When the existing sensor deployment method deploys the sensor, the deployment is performed completely according to personal habits of testers, key measuring points are easily omitted or unnecessary positions are easily arranged, and therefore accuracy of detection results is low.
Disclosure of Invention
The invention provides a sensor deployment method, a system, equipment and a medium based on a digital twin model, which solve the technical problems that the conventional sensor deployment method is used for deploying according to personal habits of testers completely, so that key measuring points are easily omitted or unnecessary positions are easily arranged, and the accuracy of detection results is low.
The invention provides a sensor deployment method of a digital twin model, which is applied to a GIS digital twin model, and comprises the following steps:
acquiring gas-insulated combined electrical apparatus structure data and a partial discharge source, and determining an initial sensor group and an initial positioning set by adopting the gas-insulated combined electrical apparatus structure data and the partial discharge source;
selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group, and generating an intermediate positioning set;
judging whether the intersection distribution range between the intermediate positioning set and the initial positioning set is larger than a preset error value or not;
If yes, the position of an initial sensor in the initial sensor group is adjusted according to the intermediate positioning set, and a target sensor group is generated;
taking the target sensor group as the initial sensor group, taking the intermediate positioning set as the initial positioning set, and jumping to execute the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group to generate the intermediate positioning set;
and if not, taking the sensor position corresponding to the initial sensor group as a sensor deployment position.
Optionally, the gas-insulated switchgear structure data includes a set of device internal coordinates and a set of unshielded insulated basin coordinates; the step of determining an initial sensor group and an initial positioning set by adopting the gas-insulated switchgear structural data and the partial discharge source comprises the following steps:
selecting two initial sensor positions from the non-shielding insulator basin coordinate set according to a preset selection rule, and generating a first target sensor position and a second target sensor position;
setting the initial sensor on the first target sensor position and the second target sensor position respectively to generate an initial sensor group;
The set of device internal coordinates is taken as an initial set of locations.
Optionally, the initial sensor group includes two initial sensors; the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group to generate an intermediate positioning set comprises the following steps:
calculating the time difference between the discharge pulse of the partial discharge source and the initial sensor respectively, and generating a time difference expected value;
calculating the product of the time difference expected value and the light speed to generate a distance difference expected value;
constructing a distance difference screening interval by adopting the distance difference expected value and a first preset positioning error;
and selecting a plurality of positioning coordinates from a preset distance fingerprint library according to the distance difference screening interval, and constructing an intermediate positioning set.
Optionally, the step of adjusting the position of the initial sensor in the initial sensor group according to the intermediate positioning set to generate a target sensor group includes:
judging whether an initial sensor positioned in the middle positioning set exists in the initial sensor group or not;
if yes, taking an initial sensor positioned in the middle positioning set in the initial sensor group as a middle sensor;
If not, determining an intermediate sensor according to the distance difference corresponding to the intermediate positioning set and the initial sensor group;
adjusting the position of the intermediate sensor according to the intermediate positioning set to generate a target sensor;
and constructing a target sensor group by adopting the target sensor and the initial sensor which is not subjected to position adjustment.
Optionally, the step of determining the intermediate sensor according to the distance difference corresponding to the intermediate positioning set and the initial sensor group includes:
selecting a positioning coordinate corresponding to the minimum distance in the middle positioning set, and generating a minimum positioning coordinate;
respectively calculating the difference value between the sensor coordinates corresponding to each initial sensor in the initial sensor group and the minimum positioning coordinates to generate an initial distance difference value;
taking the maximum value in the initial distance difference value as a target distance difference value;
and taking the initial sensor corresponding to the target distance difference value as an intermediate sensor.
Optionally, the step of generating the target sensor by adjusting the position of the intermediate sensor according to the intermediate positioning set includes:
selecting deployable sensor coordinates in the intermediate positioning set to generate a plurality of position coordinates;
Respectively calculating the difference value between the position coordinates and the sensor coordinates corresponding to the intermediate sensor to generate an initial coordinate difference value;
taking the minimum initial coordinate difference value larger than the second preset positioning error as a target coordinate difference value;
and moving the intermediate sensor to a position coordinate corresponding to the target coordinate difference value to generate a target sensor.
The invention also provides a sensor deployment system of the digital twin model, which comprises: applied to a GIS digital twin model, the system comprises:
the initial sensor group and initial positioning set determining module is used for acquiring the gas-insulated switchgear structure data and the partial discharge source and determining an initial sensor group and an initial positioning set by adopting the gas-insulated switchgear structure data and the partial discharge source;
the intermediate positioning set generation module is used for selecting positioning coordinates from a preset distance fingerprint library based on the initial sensor group to generate an intermediate positioning set;
the middle positioning set judging module is used for judging whether the intersection distribution range between the middle positioning set and the initial positioning set is larger than a preset error value or not;
the target sensor group generating module is used for adjusting the position of an initial sensor in the initial sensor group according to the intermediate positioning set if the target sensor group is generated, so as to generate a target sensor group;
The jump execution module is used for taking the target sensor group as the initial sensor group, taking the intermediate positioning set as the initial positioning set, and jumping to execute the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group to generate the intermediate positioning set;
and the sensor deployment position determining module is used for taking the sensor position corresponding to the initial sensor group as the sensor deployment position if not.
Optionally, the gas insulated switchgear structural data includes a device internal coordinate set and an unshielded insulated basin coordinate set, and the initial sensor group and initial positioning set determining module includes:
the first target sensor position and second target sensor position generation module is used for selecting two initial sensor positions from the unshielded insulating basin coordinate set according to a preset selection rule to generate a first target sensor position and a second target sensor position;
the initial sensor group generation module is used for respectively setting the initial sensors at the first target sensor position and the second target sensor position to generate an initial sensor group;
And the initial positioning set determining module is used for taking the internal coordinate set of the device as an initial positioning set.
The invention also provides 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 execute the steps of the sensor deployment method for realizing any digital twin model.
The present invention also provides a computer readable storage medium having stored thereon a computer program which when executed implements a sensor deployment method of any of the digital twin models described above.
From the above technical scheme, the invention has the following advantages:
the invention determines an initial sensor group and an initial positioning set by acquiring the structure data of the gas-insulated switchgear and the partial discharge source and adopting the structure data of the gas-insulated switchgear and the partial discharge source. And selecting positioning coordinates from a preset distance fingerprint library based on the initial sensor group, and generating an intermediate positioning set. And judging whether the intersection distribution range between the middle positioning set and the initial positioning set is larger than a preset error value, if so, adjusting the position of an initial sensor in the initial sensor group according to the middle positioning set, and generating a target sensor group. And taking the target sensor group as an initial sensor group, taking the intermediate positioning set as an initial positioning set, and jumping to execute the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group to generate the intermediate positioning set. If not, the sensor position corresponding to the initial sensor group is used as the sensor deployment position. The sensor deployment method solves the technical problems that when the existing sensor deployment method deploys the sensor, the deployment is performed completely according to personal habits of testers, key measuring points are easily omitted or unnecessary positions are easily arranged, and the accuracy of detection results is low. The sensor is deployed on the GIS digital twin model, so that the sensor position is guided or assisted by engineers to deploy or change on site, key measuring points are avoided from being omitted, the number of times of placing unnecessary sensor positions is reduced, and the detection efficiency and the accuracy of detection results are improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flow chart of steps of a method for deploying a digital twin model according to an embodiment of the present invention;
FIG. 2 is a flowchart of steps of a sensor deployment method of a digital twin model according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an external ultrahigh frequency partial discharge sensor capable of being deployed by 6 uninsulated basin provided in a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a first sensor deployment location type according to a second embodiment of the present invention;
FIG. 5 is a schematic diagram of a second sensor deployment location type according to a second embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an initial positioning set of a first sensor deployment location type according to a second embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an initial positioning set of a second sensor deployment location type according to a second embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a first type of intermediate positioning set of sensor deployment location according to a second embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a second type of intermediate positioning set of sensor deployment location according to a second embodiment of the present invention;
fig. 10 is a schematic structural diagram of a first moving process of a second sensor deployment location type according to a second embodiment of the present invention;
FIG. 11 is a schematic diagram illustrating a second movement process of a second sensor deployment location type according to a second embodiment of the present invention;
FIG. 12 is a block flow diagram of a sensor deployment method for a digital twin model according to a second embodiment of the present invention;
fig. 13 is a block diagram of a sensor deployment system of a digital twin model according to a third embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a sensor deployment method, a system, equipment and a medium based on a digital twin model, which are used for solving the technical problems that when a sensor is deployed by the existing sensor deployment method, the deployment is performed completely according to personal habits of testers, key measuring points are easy to miss or unnecessary positions are easy to be arranged, and the accuracy of a detection result is low.
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating steps of a method for deploying a digital twin model according to an embodiment of the invention.
The GIS digital twin model is a model obtained by carrying out GIS digital twin modeling by adopting gas insulated switchgear structural data, and comprises a preset distance fingerprint library, wherein the preset distance fingerprint library is constructed by adopting signal transmission distances from all coordinates in the GIS to each non-shielding insulator basin coordinate. In the GIS digital twin model, the number of internal coordinates in the GIS is assumed to be M, and the number of positions (positions of unshielded insulating basin) where the ultrahigh frequency sensor can be deployed is assumed to be S. And traversing M GIS internal coordinates, and calculating signal transmission distances from each internal coordinate to S non-shielding insulator basin coordinates to form a preset distance fingerprint library.
The sensor deployment method of the digital twin model provided by the embodiment of the invention is applied to the GIS digital twin model, and comprises the following steps:
and 101, acquiring gas-insulated switchgear structure data and a partial discharge source, and determining an initial sensor group and an initial positioning set by adopting the gas-insulated switchgear structure data and the partial discharge source.
In the embodiment of the invention, the structure data of the gas-insulated switchgear corresponding to the sensor deployment and the partial discharge source are obtained. The gas-insulated switchgear structure data comprise an internal coordinate set and an unshielded insulated basin coordinate set, and two initial sensor positions are selected from the unshielded insulated basin coordinate set according to a preset selection rule to generate a first target sensor position and a second target sensor position. Initial sensors are respectively arranged at the first target sensor position and the second target sensor position, and an initial sensor group is generated. And taking the internal coordinate set of the device as an initial positioning set.
Step 102, selecting positioning coordinates from a fingerprint library with preset distance based on an initial sensor group, and generating an intermediate positioning set.
In an embodiment of the invention, the initial sensor group comprises two initial sensors. And calculating the time difference between the discharge pulse of the partial discharge source and the initial sensor respectively, and generating a time difference expected value. And calculating the product of the time difference expected value and the light speed to generate a distance difference expected value. And constructing a distance difference screening interval by adopting the distance difference expected value and the first preset positioning error. And selecting a plurality of positioning coordinates from a preset distance fingerprint library according to the distance difference screening interval, and constructing an intermediate positioning set.
Step 103, judging whether the intersection distribution range between the middle positioning set and the initial positioning set is larger than a preset error value, if so, executing step 104, and if not, executing step 106.
The preset error value refers to an automatic positioning error of twice the partial discharge detector, such as 2×0.3 meters.
In the embodiment of the invention, the intersection distribution range between the middle positioning set and the initial positioning set is acquired, and the intersection distribution range of the intersection is compared with a preset error value. And if the intersection distribution range is larger than the preset error value, adjusting the position of the initial sensor in the initial sensor group based on the intermediate positioning set to generate a target sensor group. And if the intersection distribution range is smaller than or equal to the preset error value, taking the sensor position corresponding to the initial sensor group as the sensor deployment position.
And 104, adjusting the position of an initial sensor in the initial sensor group according to the intermediate positioning set to generate a target sensor group.
In the embodiment of the invention, whether the initial sensor group has the initial sensor positioned in the middle positioning set is judged. If yes, the initial sensor in the intermediate positioning set in the initial sensor group is taken as an intermediate sensor. If not, determining the intermediate sensor according to the distance difference corresponding to the intermediate positioning set and the initial sensor group. The position of the intermediate sensor is adjusted based on the intermediate positioning set, and a target sensor is generated. And constructing a target sensor group by adopting the target sensor and an initial sensor which does not carry out position adjustment.
And 105, taking the target sensor group as an initial sensor group, taking the intermediate positioning set as an initial positioning set, and jumping to execute the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group to generate the intermediate positioning set.
In the embodiment of the invention, the target sensor group is used as an initial sensor group, the intermediate positioning set is used as an initial positioning set, the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group is performed in a jumping mode, the new intermediate positioning set is reconfirmed, and judgment is performed until the intersection distribution range between the intermediate positioning set and the initial positioning set is smaller than or equal to a preset error value.
And 106, taking the sensor position corresponding to the initial sensor group as a sensor deployment position.
In the embodiment of the invention, when the intersection distribution range between the middle positioning set and the initial positioning set is smaller than or equal to a preset error value, the positioning is successful, and the sensor position of the initial sensor group corresponding to the middle positioning set is taken as the sensor deployment position.
In the embodiment of the invention, the initial sensor group and the initial positioning set are determined by acquiring the structure data of the gas-insulated switchgear and the partial discharge source and adopting the structure data of the gas-insulated switchgear and the partial discharge source. And selecting positioning coordinates from a preset distance fingerprint library based on the initial sensor group, and generating an intermediate positioning set. And judging whether the intersection distribution range between the middle positioning set and the initial positioning set is larger than a preset error value, if so, adjusting the position of an initial sensor in the initial sensor group according to the middle positioning set, and generating a target sensor group. And taking the target sensor group as an initial sensor group, taking the intermediate positioning set as an initial positioning set, and jumping to execute the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group to generate the intermediate positioning set. If not, the sensor position corresponding to the initial sensor group is used as the sensor deployment position. The sensor deployment method solves the technical problems that when the existing sensor deployment method deploys the sensor, the deployment is performed completely according to personal habits of testers, key measuring points are easily omitted or unnecessary positions are easily arranged, and the accuracy of detection results is low. The sensor is deployed on the GIS digital twin model, so that the sensor position is guided or assisted by engineers to deploy or change on site, key measuring points are avoided from being omitted, the number of times of placing unnecessary sensor positions is reduced, and the detection efficiency and the accuracy of detection results are improved.
Referring to fig. 2, fig. 2 is a flowchart illustrating steps of a sensor deployment method of a digital twin model according to a second embodiment of the present invention.
The sensor deployment method of the digital twin model provided by the second embodiment of the invention is applied to the GIS digital twin model, and comprises the following steps:
step 201, acquiring gas-insulated switchgear structure data and a partial discharge source, and determining an initial sensor group and an initial positioning set by adopting the gas-insulated switchgear structure data and the partial discharge source.
Further, the gas insulated switchgear structural data includes a set of device internal coordinates and a set of non-shielding insulator basin coordinates, and step S201 may include the following substeps S11-S13:
s11, selecting two initial sensor positions from the unshielded insulator basin coordinate set according to a preset selection rule, and generating a first target sensor position and a second target sensor position.
S12, setting initial sensors on the first target sensor position and the second target sensor position respectively to generate an initial sensor group.
S13, taking the internal coordinate set of the device as an initial positioning set.
The preset selection rule refers to a requirement for setting and selecting the initial sensor deployment position based on actual needs, and can be set to be selected randomly or set to be corresponding according to historical data.
In the embodiment of the invention, two initial sensor positions are selected from the unshielded insulator basin coordinate set corresponding to the GIS digital twin model according to a preset selection rule, so as to obtain a first target sensor position and a second target sensor position. Initial sensors are respectively arranged at the first target sensor position and the second target sensor position, and an initial sensor group is constructed by adopting the two initial sensors. And constructing an initial positioning set by adopting all coordinate points in the coordinate set in the device.
Step 202, calculating the time difference between the discharge pulse of the partial discharge source and the initial sensor, and generating a time difference expected value.
In the embodiment of the invention, the time from the discharge pulse of the partial discharge source to the corresponding time of the two initial sensors is respectively obtained, and the time difference is calculated to obtain the expected time difference delta t 。
And 203, calculating the product of the expected time difference value and the light speed to generate a distance difference expected value.
In the embodiment of the invention, the expected time difference delta is calculated t And calculating the product of the velocity of light c to obtain a distance difference expected value delta d ＝δ t *c。
And 204, constructing a distance difference screening interval by adopting the distance difference expected value and the first preset positioning error.
In the embodiment of the present invention, the first preset positioning error refers to an automatic positioning error e of the partial discharge detecting instrument, for example, 0.3 meters. Adopting a difference value between a distance difference expected value and a first preset positioning error as a lower interval limit, adopting a sum value between the distance difference expected value and the first preset positioning error as an upper interval limit, and adopting the upper interval limit and the lower interval limit to construct a distance difference screening interval [ delta ] d -e，δ d +e]。
Step 205, selecting a plurality of positioning coordinates from a preset distance fingerprint library according to a distance difference screening interval, and constructing an intermediate positioning set.
In the embodiment of the invention, the positioning coordinates corresponding to all signal transmission distances meeting the distance difference screening interval are selected from a preset distance fingerprint library, and the positioning coordinates are adopted to construct an intermediate positioning set.
Step 206, determining whether the intersection distribution range between the intermediate positioning set and the initial positioning set is greater than a preset error value, if yes, executing step 207, and if no, executing step 209.
In the embodiment of the present invention, the implementation process of step 206 is similar to that of step 103, and will not be repeated here.
Step 207, adjusting the position of the initial sensor in the initial sensor group according to the intermediate positioning set, and generating a target sensor group.
Further, step S207 may include the following sub-steps S21-S25:
s21, judging whether an initial sensor in the intermediate positioning set exists in the initial sensor group, if so, executing the step S22, and if not, executing the step S23.
S22, taking an initial sensor positioned in the middle positioning set in the initial sensor group as a middle sensor.
S23, determining the intermediate sensor according to the distance difference corresponding to the intermediate positioning set and the initial sensor group.
S24, adjusting the position of the middle sensor according to the middle positioning set to generate the target sensor.
S25, constructing a target sensor group by adopting the target sensor and the initial sensor which does not carry out position adjustment.
Further, step S23 may include the following substeps S231-S234:
s231, selecting a positioning coordinate corresponding to the minimum distance in the middle positioning set, and generating a minimum positioning coordinate.
S232, respectively calculating the difference value between the sensor coordinates corresponding to each initial sensor in the initial sensor group and the minimum positioning coordinates, and generating an initial distance difference value.
S233, taking the maximum value in the initial distance difference value as a target distance difference value.
S234, taking the initial sensor corresponding to the target distance difference value as an intermediate sensor.
Further, step S24 may include the following substeps S241-S244:
s241, selecting deployable sensor coordinates in the middle positioning set, and generating a plurality of position coordinates.
S242, respectively calculating the difference between the position coordinates and the sensor coordinates corresponding to the intermediate sensor, and generating an initial coordinate difference.
S243, taking the minimum initial coordinate difference value larger than the second preset positioning error as a target coordinate difference value.
S244, moving the intermediate sensor to the position coordinates corresponding to the target coordinate difference value to generate the target sensor.
In the embodiment of the invention, it is assumed that 6 uninsulated basin-type external ultrahigh frequency partial discharge sensors can be deployed in a GIS digital twin model, and the positions of the external ultrahigh frequency partial discharge sensors are shown in figure 3. The sensor deployment location types corresponding to the initial sensor group include a first sensor deployment location type and a second sensor deployment location type. A schematic of the first sensor deployment location type is shown in fig. 4, where the difference in distance to the two sensors is equal to the distance between the two sensors when the partial discharge source is outside the range enclosed by the two sensors. The second sensor deployment position type is schematically shown in fig. 5, and when a T-branch exists between two sensors, the difference between the distances between the partial discharge signals transmitted to the two sensors at any position on the branch is equal to the difference between the distances between the two sensors and the T-branch. Taking the positioning error into consideration, the following rules are derived:
Rule 1: when the distance between the positioning result and any one of the sensors is smaller than or equal to the positioning error, the partial discharge source may be located at the positioning result or may be located outside the range enclosed by the two sensors.
Rule 2: when the distance between the positioning result and the T-shaped branch between the two sensors is smaller than or equal to the positioning error, the partial discharge source may be located at any position of the T-shaped branch channel.
Therefore, the sensor deployment principle meeting the GIS ultrahigh frequency partial discharge positioning is as follows: the sensor must be deployed on all possible transmission paths of the partial discharge signal, surrounding the partial discharge source, and at a distance from the partial discharge source that is greater than the positioning error.
In the embodiment of the present invention, the second preset positioning error is the same as the first preset positioning error, and the second preset positioning error is the automatic positioning error e of the partial discharge detecting instrument. And determining whether the initial sensor group belongs to the first sensor deployment position type or the second sensor deployment position type by judging whether the initial sensor group has the initial sensor positioned in the middle positioning set. When there are initial sensors in the initial sensor group located in the intermediate positioning set, the initial sensor group belongs to the first sensor deployment position type, and the corresponding initial positioning set is shown as a region consisting of a plurality of points in fig. 6, and includes a region within a distance e around the channel #5 and all regions outside the channel # 5. When there is no initial sensor in the initial sensor group located in the intermediate positioning set, the initial sensor group belongs to a second sensor deployment position type, and the corresponding initial positioning set is shown as an area consisting of a plurality of points in fig. 7, and includes an area within a distance e around the T-joint and all areas in the branch. It can be derived that in both cases the distribution of the positioning result coordinate points is very broad, much larger than the positioning error e of 2 times. Therefore, on the condition that the distance between 2 coordinate points in the positioning result set is more than 2e, whether the intersection distribution range between the middle positioning set and the initial positioning set is more than a preset error value is judged, and a sensor movement algorithm is started.
When the initial sensor group belongs to the first sensor deployment location type, the sensor at location #5 needs to be moved to location #4. This action is based on the following principles:
1) The moved sensor coordinates are located in the positioning result set;
2) The target position is a non-shielding basin, and a sensor can be deployed;
3) The target position coordinates are located in the positioning result set;
4) The distance between the target position and the original position is larger than e;
5) If there are a plurality of positions satisfying the above condition, the nearest position to the original position is selected as the target position.
According to the principle, an initial sensor in the initial sensor group, which is positioned in the middle positioning set, is used as a middle sensor, and the deployable sensor coordinates in the middle positioning set are selected to generate a plurality of position coordinates. And respectively calculating the difference between the position coordinates and the sensor coordinates corresponding to the intermediate sensor, and generating an initial coordinate difference. And taking the minimum initial coordinate difference value larger than the second preset positioning error as a target coordinate difference value. Namely, the sensor at the position #5 is moved to the position #4, namely, the middle sensor is moved to the position coordinate corresponding to the target coordinate difference value, the target sensor is generated, as shown in fig. 8, the intersection of the current positioning result and the last positioning result is taken, the condition that the distance between 2 coordinate points in the positioning result set is more than 2e is not satisfied, the positioning is successful, and the process is ended.
When the initial sensor group belongs to the second sensor-deployed position type, the sensor at position #4 needs to be moved to position #3. The action is based on the following principles:
1) The moved sensor coordinates are not located in the positioning result set;
2) A sensor with a larger minimum distance from the positioning result set is moved;
3) The target position is a non-shielding basin, and a sensor can be deployed;
4) The target position coordinates are located in the positioning result set;
5) The distance between the target position and the original position is larger than e;
6) If a plurality of target positions meet the above condition, the nearest target position to the original position is selected as the target position.
According to the principle, selecting the positioning coordinate corresponding to the minimum distance in the middle positioning set, generating the minimum positioning coordinate, and respectively calculating the difference value between the sensor coordinate corresponding to each initial sensor in the initial sensor group and the minimum positioning coordinate to generate the initial distance difference value. The maximum value in the initial distance difference values is taken as a target distance difference value, and an initial sensor corresponding to the target distance difference value is taken as an intermediate sensor. And selecting deployable sensor coordinates in the middle positioning set, generating a plurality of position coordinates, respectively calculating differences between the position coordinates and the sensor coordinates corresponding to the middle sensor, and generating initial coordinate differences. And taking the minimum initial coordinate difference value larger than the second preset positioning error as a target coordinate difference value, and moving the intermediate sensor to a position coordinate corresponding to the target coordinate difference value to generate the target sensor. The positioning result after the movement is shown in the following fig. 9, the intersection of the current positioning result and the last positioning result is taken, and the condition that the distance between 2 coordinate points in the positioning result set is greater than 2e is still satisfied, so that the sensor needs to be continuously moved. The moving method refers to a moving step when the initial sensor group belongs to the first sensor deployment location type, the sensor at the location #3 in fig. 10 is moved to the location #2, and the result after the movement is shown in fig. 11. And taking the intersection of the current positioning result and the last positioning result, and not meeting the condition that the distance between 2 coordinate points in the positioning result set is more than 2e, wherein the positioning is successful, and the process is finished.
And step 208, taking the target sensor group as an initial sensor group, combining the intermediate positioning set as the initial positioning set, and jumping to execute the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group to generate the intermediate positioning set.
In the embodiment of the present invention, the implementation process of step 208 is similar to that of step 105, and will not be repeated here.
Step 209, taking the sensor position corresponding to the initial sensor group as the sensor deployment position.
In the embodiment of the present invention, the implementation process of step 209 is similar to that of step 106, and will not be described herein.
In the embodiment of the invention, as shown in fig. 12, a preset distance fingerprint library is constructed through GIS digital twin modeling, and the preset distance fingerprint library contains distances from points inside all GIS to deployment positions of all sensors. And constructing an initial positioning set by adopting all GIS internal coordinate point deployment sensors. And after the initial sensor group is determined by adopting the gas insulation combined electrical apparatus structure data and the partial discharge source, the sensor is deployed to measure the partial discharge. The expected time difference of arrival of the discharge pulse at 2 initial sensors is calculated. The expected distance difference value of the discharge pulse to 2 sensors is calculated. And selecting a plurality of positioning coordinates from a preset distance fingerprint library according to the distance difference screening interval, and constructing an intermediate positioning set. Determining whether the intersection distribution range a between the intermediate positioning set and the initial positioning set is greater than the preset error value B, i.e. a > B? . If yes, judging whether an initial sensor positioned in the middle positioning set exists in the initial sensor group or not, namely judging whether the condition C is met or not. If yes, the initial sensor in the intermediate positioning set in the initial sensor group is taken as an intermediate sensor. If not, the initial sensor with a larger minimum distance from the middle positioning set is selected as the middle sensor. And moving the intermediate sensor to the nearest non-shielding basin with the distance from the original position being greater than a second preset positioning error in the positioning result set to generate a target sensor. And constructing a target sensor group by adopting the target sensor and an initial sensor which does not carry out position adjustment. And taking the target sensor group as an initial sensor group, taking the intermediate positioning set as an initial positioning set, and jumping to execute the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group to generate the intermediate positioning set. If not, the process is ended, and the sensor position corresponding to the initial sensor group is taken as the sensor deployment position. The GIS digital twin model is used for realizing virtual-real mapping with the real GIS equipment, and the sensor is deployed on the GIS digital twin model, so that the sensor position is guided or assisted by engineers to be deployed or changed on site, the omission of key measuring points is avoided, the number of times of placing unnecessary sensor positions is reduced, and the detection efficiency is improved. The detection data has traceability on the GIS digital twin model, and can be compared and analyzed with the historical detection data. The partial discharge detection technology is combined with the digital twin concept, so that the technical innovation progress of industry is accelerated, and the technical innovation of artificial intelligent partial discharge detection is accelerated.
Referring to fig. 13, fig. 13 is a block diagram of a sensor deployment system of a digital twin model according to a third embodiment of the present invention.
The third embodiment of the invention provides a sensor deployment system of a digital twin model, which is applied to a GIS digital twin model, and comprises:
the initial sensor group and initial positioning set determining module 1301 is configured to obtain gas-insulated switchgear structure data and a partial discharge source, and determine an initial sensor group and an initial positioning set by using the gas-insulated switchgear structure data and the partial discharge source.
The intermediate positioning set generating module 1302 is configured to select positioning coordinates from a fingerprint database with a preset distance based on the initial sensor group, and generate an intermediate positioning set.
The middle positioning set determining module 1303 is configured to determine whether an intersection distribution range between the middle positioning set and the initial positioning set is greater than a preset error value.
The target sensor group generating module 1304 is configured to adjust a position of an initial sensor in the initial sensor group according to the intermediate positioning set if the target sensor group is positive, and generate a target sensor group.
And the jump execution module 1305 is configured to take the target sensor group as an initial sensor group, take the intermediate positioning set as an initial positioning set, and jump and execute the steps of selecting the positioning coordinates from the fingerprint database with a preset distance based on the initial sensor group to generate the intermediate positioning set.
The sensor deployment location determining module 1306 is configured to take a sensor location corresponding to the initial sensor group as the sensor deployment location if not.
Optionally, the gas insulated switchgear structural data includes a device internal coordinate set and an unshielded insulator basin coordinate set, and the initial sensor group and initial positioning set determination module 1301 includes:
the first target sensor position and second target sensor position generation module is used for selecting two initial sensor positions from the unshielded insulator basin coordinate set according to a preset selection rule to generate a first target sensor position and a second target sensor position;
the initial sensor group generation module is used for respectively setting initial sensors at the first target sensor position and the second target sensor position to generate an initial sensor group;
and the initial positioning set determining module is used for taking the internal coordinate set of the device as an initial positioning set.
Optionally, the initial sensor group includes two initial sensors, and the intermediate positioning set generation module 1302 includes:
and the time difference expected value generation module is used for calculating the time difference between the discharge pulse of the partial discharge source and the initial sensor respectively and generating a time difference expected value.
And the distance difference expected value generation module is used for calculating the product of the time difference expected value and the light speed to generate the distance difference expected value.
The distance difference screening interval construction module is used for constructing a distance difference screening interval by adopting a distance difference expected value and a first preset positioning error.
The middle positioning set generation sub-module is used for selecting a plurality of positioning coordinates from a preset distance fingerprint library according to the distance difference screening interval to construct a middle positioning set.
Optionally, the target sensor group generation module 1304 includes:
the initial sensor group judging module is used for judging whether the initial sensor group has an initial sensor positioned in the middle positioning set.
And the first middle sensor determining module is used for taking the initial sensor positioned in the middle positioning set in the initial sensor group as the middle sensor if the first middle sensor determining module is used for judging whether the first middle sensor is the middle sensor.
And the second middle sensor determining module is used for determining the middle sensor according to the distance difference corresponding to the middle positioning set and the initial sensor group if not.
And the target sensor generation module is used for adjusting the position of the intermediate sensor according to the intermediate positioning set to generate the target sensor.
And the target sensor group generation sub-module is used for constructing a target sensor group by adopting the target sensor and the initial sensor which is not subjected to position adjustment.
Alternatively, the intermediate sensor first determination module may perform the steps of:
selecting a positioning coordinate corresponding to the minimum distance in the middle positioning set, and generating a minimum positioning coordinate;
respectively calculating the difference value between the sensor coordinates corresponding to each initial sensor in the initial sensor group and the minimum positioning coordinates to generate an initial distance difference value;
taking the maximum value in the initial distance difference value as a target distance difference value;
and taking the initial sensor corresponding to the target distance difference value as an intermediate sensor.
Alternatively, the object sensor generation module may perform the steps of:
selecting deployable sensor coordinates in the intermediate positioning set to generate a plurality of position coordinates;
respectively calculating the difference value between the position coordinates and the sensor coordinates corresponding to the intermediate sensor to generate an initial coordinate difference value;
taking the minimum initial coordinate difference value larger than the second preset positioning error as a target coordinate difference value;
and moving the intermediate sensor to a position coordinate corresponding to the target coordinate difference value to generate the target sensor.
The embodiment of the invention also provides electronic equipment, which comprises: a memory and a processor, the memory storing a computer program; the computer program, when executed by a processor, causes the processor to perform the method of sensor deployment of a digital twin model as described in any of the embodiments above.
The memory may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory has memory space for program code to perform any of the method steps described above. For example, the memory space for the program code may include individual program code for implementing the various steps in the above method, respectively. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. The program code may be compressed, for example, in a suitable form. The code, when executed by a computing processing device, causes the computing processing device to perform the steps in the sensor deployment method of the digital twinning model described above.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the sensor deployment method of the digital twin model of any of the embodiments above.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A sensor deployment method of a digital twin model, applied to a GIS digital twin model, the method comprising:
acquiring gas-insulated combined electrical apparatus structure data and a partial discharge source, and determining an initial sensor group and an initial positioning set by adopting the gas-insulated combined electrical apparatus structure data and the partial discharge source;
selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group, and generating an intermediate positioning set;
judging whether the intersection distribution range between the intermediate positioning set and the initial positioning set is larger than a preset error value or not;
if yes, the position of an initial sensor in the initial sensor group is adjusted according to the intermediate positioning set, and a target sensor group is generated;
Taking the target sensor group as the initial sensor group, taking the intermediate positioning set as the initial positioning set, and jumping to execute the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group to generate the intermediate positioning set;
and if not, taking the sensor position corresponding to the initial sensor group as a sensor deployment position.
2. The method of claim 1, wherein the gas insulated switchgear structural data comprises a set of device internal coordinates and a set of unshielded insulator basin coordinates; the step of determining an initial sensor group and an initial positioning set by adopting the gas-insulated switchgear structural data and the partial discharge source comprises the following steps:
selecting two initial sensor positions from the non-shielding insulator basin coordinate set according to a preset selection rule, and generating a first target sensor position and a second target sensor position;
setting the initial sensor on the first target sensor position and the second target sensor position respectively to generate an initial sensor group;
the set of device internal coordinates is taken as an initial set of locations.
3. The method of sensor deployment of a digital twin model of claim 1, wherein the initial set of sensors comprises two of the initial sensors; the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group to generate an intermediate positioning set comprises the following steps:
calculating the time difference between the discharge pulse of the partial discharge source and the initial sensor respectively, and generating a time difference expected value;
calculating the product of the time difference expected value and the light speed to generate a distance difference expected value;
constructing a distance difference screening interval by adopting the distance difference expected value and a first preset positioning error;
and selecting a plurality of positioning coordinates from a preset distance fingerprint library according to the distance difference screening interval, and constructing an intermediate positioning set.
4. The method of sensor deployment of a digital twin model of claim 1, wherein the step of adjusting the position of the initial sensor in the initial sensor set based on the set of intermediate locations, generating a target sensor set, comprises:
judging whether an initial sensor positioned in the middle positioning set exists in the initial sensor group or not;
if yes, taking an initial sensor positioned in the middle positioning set in the initial sensor group as a middle sensor;
If not, determining an intermediate sensor according to the distance difference corresponding to the intermediate positioning set and the initial sensor group;
adjusting the position of the intermediate sensor according to the intermediate positioning set to generate a target sensor;
and constructing a target sensor group by adopting the target sensor and the initial sensor which is not subjected to position adjustment.
5. The method of sensor deployment of a digital twin model of claim 4, wherein the step of determining an intermediate sensor from the distance differences corresponding to the set of intermediate locations and the set of initial sensors comprises:
selecting a positioning coordinate corresponding to the minimum distance in the middle positioning set, and generating a minimum positioning coordinate;
respectively calculating the difference value between the sensor coordinates corresponding to each initial sensor in the initial sensor group and the minimum positioning coordinates to generate an initial distance difference value;
taking the maximum value in the initial distance difference value as a target distance difference value;
and taking the initial sensor corresponding to the target distance difference value as an intermediate sensor.
6. The method of sensor deployment of a digital twin model of claim 4, wherein the step of adjusting the position of the intermediate sensor from the set of intermediate locations to generate a target sensor comprises:
Selecting deployable sensor coordinates in the intermediate positioning set to generate a plurality of position coordinates;
respectively calculating the difference value between the position coordinates and the sensor coordinates corresponding to the intermediate sensor to generate an initial coordinate difference value;
taking the minimum initial coordinate difference value larger than the second preset positioning error as a target coordinate difference value;
and moving the intermediate sensor to a position coordinate corresponding to the target coordinate difference value to generate a target sensor.
7. A sensor deployment system for a digital twin model, applied to a GIS digital twin model, the system comprising:
the initial sensor group and initial positioning set determining module is used for acquiring the gas-insulated switchgear structure data and the partial discharge source and determining an initial sensor group and an initial positioning set by adopting the gas-insulated switchgear structure data and the partial discharge source;
the intermediate positioning set generation module is used for selecting positioning coordinates from a preset distance fingerprint library based on the initial sensor group to generate an intermediate positioning set;
the middle positioning set judging module is used for judging whether the intersection distribution range between the middle positioning set and the initial positioning set is larger than a preset error value or not;
The target sensor group generating module is used for adjusting the position of an initial sensor in the initial sensor group according to the intermediate positioning set if the target sensor group is generated, so as to generate a target sensor group;
the jump execution module is used for taking the target sensor group as the initial sensor group, taking the intermediate positioning set as the initial positioning set, and jumping to execute the step of selecting positioning coordinates from a fingerprint library with preset distance based on the initial sensor group to generate the intermediate positioning set;
and the sensor deployment position determining module is used for taking the sensor position corresponding to the initial sensor group as the sensor deployment position if not.
8. The digital twinned model sensor deployment system of claim 7, wherein the gas insulated switchgear structural data comprises a set of device internal coordinates and a set of unshielded insulated basin coordinates, the initial sensor set and initial positioning set determination module comprising:
the first target sensor position and second target sensor position generation module is used for selecting two initial sensor positions from the unshielded insulating basin coordinate set according to a preset selection rule to generate a first target sensor position and a second target sensor position;
The initial sensor group generation module is used for respectively setting the initial sensors at the first target sensor position and the second target sensor position to generate an initial sensor group;
and the initial positioning set determining module is used for taking the internal coordinate set of the device as an initial positioning set.
9. An electronic device comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the sensor deployment method of a digital twin model as defined in any one of claims 1 to 6.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed implements the sensor deployment method of a digital twin model according to any of claims 1 to 6.
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