CN117387680A

CN117387680A - Deicing jump monitoring device and method for power transmission line

Info

Publication number: CN117387680A
Application number: CN202311542495.6A
Authority: CN
Inventors: 杨旗; 张海鹏; 张厚荣; 李�昊; 吴建蓉; 曾华荣; 文屹; 毛先胤; 吴瑀; 肖小兵; 宋永超
Original assignee: China South Power Grid International Co ltd
Current assignee: China South Power Grid International Co ltd
Priority date: 2023-11-17
Filing date: 2023-11-17
Publication date: 2024-01-12

Abstract

The invention discloses an ice-removing jump monitoring device and method for a power transmission line, wherein the device comprises the following components: the device comprises a tension acquisition module, a motion data acquisition module, a camera module, a meteorological data acquisition module and a main control module which are arranged on a wire and side lever tower; the tension acquisition module is used for sampling and storing the tension of the wire at a high speed in the deicing jumping process; the motion data acquisition module is used for sampling and storing the motion track data of the wire in a high-speed manner in the deicing jumping process; the meteorological data acquisition module acquires meteorological parameters of the power transmission line in real time; the camera module records and stores the motion process of the lead in the deicing jumping process; the main control module receives the tension value, the movement track data, the meteorological parameters and the video data, and monitors the deicing jumping process of the power transmission line in real time. The modules in the invention cooperatively operate, so that the real-time monitoring of wire deicing jump can be realized, and the safe and stable operation of the power system is ensured.

Description

Deicing jump monitoring device and method for power transmission line

Technical Field

The invention relates to the technical field of power transmission lines, in particular to an ice-removing jump monitoring device and method for a power transmission line.

Background

Ice coating and snow accumulation of a power transmission line threaten the safe operation of a power system for a long time, and the ice coating and the ice accumulation often cause serious accidents such as alternate flashover, disconnection, tower inversion and the like of a power transmission line lead, so that the safe operation of the power system is seriously endangered.

At present, a power transmission line icing monitoring device generally adopts a weighing method to measure the icing thickness, specifically utilizes a tension sensor to replace a connecting fitting on an insulator string, and utilizes an equivalent icing model algorithm to calculate the equivalent icing thickness of the line through the tension value of the tension sensor. In addition, a tripod head camera is arranged on the pole tower, and the data acquisition host adopts solar energy to supply power; the host machine starts the power supply of the cradle head camera at fixed time and grabs the icing pictures with different preset positions at fixed time.

The conventional tension sensor used on the current icing monitoring is in a low-speed low-frequency application mode, the sampling interval is fixed, the sampling time is long, and the sampling time is short, so that only the tension value at a certain moment is usually recorded; the data acquisition host adopts solar energy to supply power, and the solar energy supply of the installation area of the icing monitoring device in the icing period is weaker, and a gap working mode is needed. Wire deicing jump refers to sudden low-frequency and large-amplitude up-down jump phenomenon which occurs when overhead wires in the icing area are deicing, but because the time of the wire deicing jump is shorter, the icing monitoring device is generally difficult to monitor the deicing jump process, the requirement of real-time monitoring cannot be met, and the safe operation of a power system is affected.

Disclosure of Invention

The invention aims to provide an ice-removing jump monitoring device and method for a power transmission line, which are used for solving the technical problem that the ice-removing jump process cannot be monitored in real time by the existing power transmission line ice-covering device so as to influence the stable operation of a power grid.

The aim of the invention can be achieved by the following technical scheme:

according to a first scheme, the deicing skip monitoring device of the power transmission line comprises:

the system comprises a tension acquisition module, a motion data acquisition module, a meteorological data acquisition module, a camera module and a main control module which are in communication connection;

the tension acquisition module, the motion data acquisition module and the camera shooting module are all arranged on a lead of the power transmission line; the meteorological data acquisition module is arranged on a pole tower at the same side with the wire;

the tension acquisition module samples and stores the tension of the wire in a high-speed manner in the ice-removing jumping process according to the trigger signal, and sends a tension value to the main control module;

the motion data acquisition module samples and stores motion track data of the wire in a high-speed manner in the ice-removing jumping process according to the trigger signal, and sends the motion track data to the main control module;

The meteorological data acquisition module acquires meteorological parameters of the power transmission line in real time, and when preset conditions are met, the meteorological data acquisition module sends trigger signals to the tension acquisition module, the motion data acquisition module and the camera module and sends the meteorological parameters to the main control module;

the camera module records and stores the motion process of the lead in the deicing jumping process according to the trigger signal, and sends the recorded data to the main control module;

the main control module receives the tension value, the movement track data, the meteorological parameters and the video data and monitors the deicing jumping process of the power transmission line in real time.

Optionally, the tension acquisition module at least includes:

and the tension sensor is arranged on the high-voltage side of the insulator chain of the power transmission line and is used for collecting the tension born by the lead.

Optionally, the tension acquisition module, the motion data acquisition module and the camera module all include:

the current induction power supply is used for taking energy online by utilizing a conducting wire of parallel resonance of the current transformer, outputting secondary voltage and current, and charging the lithium battery through voltage limiting and current limiting.

Optionally, the tension acquisition module, the motion data acquisition module, the meteorological data acquisition module and the camera shooting module all include:

and the time service module is used for realizing clock synchronization among the tension acquisition module, the motion data acquisition module, the meteorological data acquisition module and the camera shooting module.

Optionally, wireless communication is performed between the meteorological data acquisition module, the tension acquisition module, the motion data acquisition module and the camera module through a loRa communication protocol.

The second scheme is an ice-removing jump monitoring method for the power transmission line, which is applied to the ice-removing jump monitoring device for the power transmission line in the first scheme, and comprises the following steps:

the tension acquisition module is used for carrying out high-speed sampling and high-speed storage on tension of a wire of the power transmission line in the deicing jumping process according to the trigger signal, and transmitting a tension value to the main control module;

the motion data acquisition module is used for sampling and storing the motion trail data of the wire at a high speed in the deicing jumping process according to the trigger signal, and the motion trail data is sent to the main control module;

the method comprises the steps of collecting weather parameters of the power transmission line in real time by using a weather data collecting module, and sending the weather parameters to the main control module;

Recording and storing the motion process of the lead in the deicing jumping process by using a camera module according to the trigger signal, and sending the recorded data to the main control module;

and receiving the tension value, the motion trail data, the meteorological parameters and the video data by using a main control module, and monitoring the deicing jumping process of the power transmission line in real time.

Optionally, the method further comprises:

and setting the working modes of the tension acquisition module, the motion data acquisition module, the meteorological data acquisition module and the camera module and corresponding triggering conditions by using the main control module.

Optionally, the setting, by using the main control module, the working mode of the tension acquisition module and the corresponding triggering conditions includes:

when the steady-state data of the tension exceeds a first preset proportion when no ice coating exists and the jumping percentage of the tension data in the first preset time exceeds a second preset proportion, the main control module sets the tension acquisition module to start an ice removing jumping mode;

when the fluctuation of the tension data is smaller than a third preset proportion or the acceleration data is smaller than a first acceleration threshold value in a second preset time, the main control module sets the tension acquisition module to stop the ice-removing jump mode.

Optionally, the setting, by using the master control module, the working mode of the motion data acquisition module and the corresponding triggering conditions includes:

when the value of the acceleration data exceeds a second acceleration threshold value or the steady-state data of the tension exceeds a first preset proportion when no ice coating exists, the main control module sets the motion data acquisition module to start high-speed sampling and high-speed storage;

and when the acceleration data are smaller than the first acceleration threshold value in the second preset time, the main control module sets the motion data acquisition module to stop high-speed sampling and high-speed storage.

Optionally, setting the working mode of the camera module and the corresponding triggering condition by using the main control module includes:

when the received environmental temperature of the meteorological data acquisition module is smaller than a first preset temperature and the environmental humidity is larger than a first humidity threshold, the main control module sets the camera module to start a heating mode;

when the current of the lead is greater than or equal to a current threshold value, the main control module sets the camera module to start an all-day video recording mode;

when the current of the lead is smaller than a current threshold, the main control module sets the camera module to start a trigger video mode.

The invention provides an ice-removing jump monitoring device and method for a power transmission line, wherein the device comprises the following components: the system comprises a tension acquisition module, a motion data acquisition module, a meteorological data acquisition module, a camera module and a main control module which are in communication connection; the tension acquisition module, the motion data acquisition module and the camera shooting module are all arranged on a lead of the power transmission line; the meteorological data acquisition module is arranged on a pole tower at the same side with the wire; the tension acquisition module samples and stores the tension of the wire in a high-speed manner in the ice-removing jumping process according to the trigger signal, and sends a tension value to the main control module; the motion data acquisition module samples and stores motion track data of the wire in a high-speed manner in the ice-removing jumping process according to the trigger signal, and sends the motion track data to the main control module; the meteorological data acquisition module acquires meteorological parameters of the power transmission line in real time, and when preset conditions are met, the meteorological data acquisition module sends trigger signals to the tension acquisition module, the motion data acquisition module and the camera module and sends the meteorological parameters to the main control module; the camera module records and stores the motion process of the lead in the deicing jumping process according to the trigger signal, and sends the recorded data to the main control module; the main control module receives the tension value, the movement track data, the meteorological parameters and the video data and monitors the deicing jumping process of the power transmission line in real time.

Based on the technical scheme, the invention has the beneficial effects that:

the tension acquisition module, the motion data acquisition module, the meteorological data acquisition module, the camera module and the main control module have the on-site networking function, the intelligent degree of each module is high, the intelligent ice-coating monitoring device has multiple working modes, the function of the traditional ice-coating monitoring device can be realized, the high-speed sampling function is further added, and the impact load influence in the wire ice-removing jumping process can be analyzed. According to the ice-removing jump monitoring device for the power transmission line, all the modules are of a miniaturized design, and the weight of each module has small influence on the load and vibration-proof performance of the lead. After receiving the trigger signal sent by the meteorological data acquisition module, the tension acquisition module and the motion data acquisition module can perform high-speed sampling and high-speed storage, and the modules operate cooperatively, so that the real-time monitoring of wire deicing jump can be realized, and the safe and stable operation of the power system is ensured.

The sensor of each module is arranged at the high-voltage end of the lead, and the energy taking technology of the mutual inductor can be utilized, so that the maintenance-free power supply is realized, and the problem of insufficient solar energy supply of the ice-removing monitoring device in the ice-coating season is avoided.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of an ice-breaking jump monitoring device for a power transmission line according to the present invention;

FIG. 2 is a schematic diagram of a prior art icing monitoring device;

fig. 3 is a schematic diagram of an implementation framework of an embodiment of an ice-breaking jump monitoring device for a power transmission line according to the present invention;

fig. 4 is a schematic diagram of installation and deployment of an embodiment of an ice-breaking jump monitoring device for a power transmission line according to the present invention;

fig. 5 is a schematic diagram of energy taking of a current induction power supply based on parallel resonance mutual inductance in an embodiment of an ice-breaking jump monitoring device of a power transmission line according to the present invention;

FIG. 6 is a schematic diagram of the impedance characteristics of an LC parallel resonant circuit;

fig. 7 is a schematic flow chart of an embodiment of a method for monitoring ice detachment and jump of a power transmission line according to the present invention.

Detailed Description

The embodiment of the invention provides an ice-removing jump monitoring device and method for a power transmission line, which are used for solving the technical problem that the ice-removing jump process cannot be monitored in real time by the existing power transmission line ice-covering device so as to influence the stable operation of a power grid.

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Distribution networks refer to power networks that receive electrical energy from a power transmission network or regional power plant, and are distributed locally through distribution facilities or distributed step-by-step by voltage to various users. The lines from the regional power substation to the consumer power substation or to the urban and rural power transformers are used to distribute electrical energy, known as distribution lines.

Distribution lines can be divided into overhead lines and cabling. The overhead line mainly refers to an overhead open line, is erected on the ground, and is a power transmission line for transmitting electric energy by fixing a power transmission wire on a pole tower erected on the ground by using an insulator.

The main components constituting the overhead transmission line are: the device comprises a wire, a lightning conductor, a pole tower, an insulator, hardware fittings and other elements. The conductive wire is used for transmitting electric energy, and common materials include copper, aluminum alloy and the like. The tower is used for supporting the wires and the lightning conductor.

The icing of the transmission line is carried out in winter or spring, or in the weather of rain and snow intersection, the positions of the wire, the lightning conductor, the insulator chain and the like of the transmission line are provided with ice layers formed by mixing ice, frost and wet snow, and sometimes, a layer of white frost is formed on the surface of the wire to form the property of ice residues. In addition, ice coating is also related to the trend of the lines, and the ice coating is more serious on the lines passing through the junction of cold air and hot air. When the icing of the transmission line is serious, the load exceeds the load specified by the design line, so that the wire or the lightning conductor is broken, the hardware fittings and insulators are damaged, even the tower, especially the fan-shaped icing, is damaged, and the wire can be twisted.

The existing power transmission line icing monitoring devices are usually only provided with tension sensors, the tension sensors are used for replacing connecting hardware fittings on insulator strings, a data collector (a main case) is arranged on the side of a pole tower, and a solar panel is utilized for supplementing the application form of energy sources for the whole device. The tension sensor regularly samples according to preset sampling intervals, after ice is covered on a line, the weight of a wire changes, the tension sensor arranged on an insulator string sends the acquired tension value to the collector in real time, the collector pushes out the thickness of the ice according to the corresponding mathematical model according to the change of the weight value of the tension sensor, and then the data is sent to a terminal server to provide a safety guarantee value basis for an operation and maintenance department of the power transmission line.

Ice coating on a power transmission line may cause the following two serious hazard conditions:

1) The thickness of the ice coating of the whole ice coating wire exceeds the conventional design value, so that one of the wire, the connecting fitting and the tower head is damaged, and a line damage accident is caused.

2) The thickness of the ice coating wire does not exceed the design value, but when the ambient temperature is warmed up or the direct current is melted, the wire is sequentially segmented to remove the ice and jump to cause strong galloping and swinging, the impact load to the wire body, the connecting hardware fitting and the tower body can be very large, the wire ice removing jump phenomenon is generated, and the line damage accident is easy to occur.

The deicing skip of the power transmission line refers to the sudden low-frequency and large-amplitude up-down skip phenomenon which occurs when the overhead conductor in the icing area is deicing. The ice-covered wire can generate uneven ice removal or different periods of ice removal under the action of air temperature rise, natural wind force or artificial vibration and knocking. Ice-shedding jumps will lead to a reduced air gap between the conductor wire or wire rail, and in severe cases to flashovers. In addition, the deicing jump can generate larger dynamic tension to the insulator, the hardware fitting and the iron tower, and has serious damage to the insulator, the hardware fitting and the iron tower.

In the current power transmission line icing monitoring device, conventionally applied tension sensors are in a low-speed low-frequency application mode, namely: the sampling interval is fixed and the time is long, and the device generally has a data acquisition interval of 10 minutes; the sampling time is short, and after each sampling task is executed, the tension sensor only acquires the average value of tension data within 1 second, which is equivalent to only recording the tension value at a certain moment.

However, when the device is applied to the monitoring requirement of wire deicing skip, the sampling frequency of the tension sensor needs to be increased, the conventional tension sensor is limited by the performance of a microprocessor, so that quick response cannot be realized, and the weight load change condition of the power transmission line in a period of time cannot be restored.

In addition, in the icing season, the solar energy supply of the installation area of the icing monitoring device is weak, so that the whole device needs to adopt a gap working mode in order to realize low power consumption. However, the time of ice-removing jump of the ice-covered wire is generally relatively short, so that the original ice-covered monitoring device of the power transmission line often misses the key moment during monitoring, and the requirement of monitoring the ice-removing jump of the wire in real time cannot be met.

Referring to fig. 1, the present invention provides an embodiment of an ice-breaking jump monitoring device for a power transmission line, including:

the tension acquisition module 11, the motion data acquisition module 22, the meteorological data acquisition module 33, the camera module 44 and the main control module 55 are in communication connection;

wherein, the tension acquisition module 11, the motion data acquisition module 22 and the camera module 44 are all arranged on the wires of the transmission line; the meteorological data acquisition module 33 is arranged on the tower at the same side with the wire;

The tension acquisition module 11 samples and stores the tension of the wire in a high-speed manner in the ice-removing jumping process according to the trigger signal, and sends a tension value to the main control module;

the motion data acquisition module 22 performs high-speed sampling and high-speed storage on motion track data of the wire in the process of ice-removing jumping according to the trigger signal, and sends the motion track data to the main control module;

the weather data acquisition module 33 acquires weather parameters of the power transmission line in real time, and when a preset condition is met, sends trigger signals to the tension acquisition module 11, the motion data acquisition module 22 and the camera module 44, and sends the weather parameters to the main control module;

the camera module 44 records and stores the motion process of the wire in the deicing jumping process according to the trigger signal, and sends the recorded data to the main control module;

the main control module 55 receives the tension value, the movement track data, the meteorological parameters and the video data, and monitors the deicing jumping process of the power transmission line in real time.

The ice-removing jump monitoring device for the power transmission line provided by the embodiment of the invention is a multi-sensor collaborative ice-removing jump monitoring device, and can collect the load of the power transmission line wire and the data related to the movement of the wire through various acquisition modules, and monitor whether the power transmission line is in a safety range in real time in ice-coating season. The invention is suitable for on-line monitoring of the icing wire of the power transmission line of the power grid company.

Compared with the conventional icing monitoring device shown in fig. 2, as shown in fig. 3, the ice-removing jump monitoring of the power transmission line provided by the embodiment of the invention mainly comprises a tension acquisition module 11, a motion data acquisition module 22, a meteorological data acquisition module 33, a camera module 44 and a main control module 55, and the modules work cooperatively to realize the real-time monitoring of the ice-removing jump of the power transmission line.

In one embodiment, the tension acquisition module 11 includes at least: and the tension sensor is arranged on the high-voltage side of the insulator chain of the power transmission line and is used for collecting the tension born by the lead.

Specifically, the tension acquisition module 11 mainly comprises a tension sensor, a data processor, a memory, a 4G communication module, a LoRa communication module, a Beidou time service module, a current induction power supply, a ternary lithium battery and the like. The tension sensor can be arranged on the high-voltage side of the insulator string of the power transmission line and is realized by replacing the original connecting hardware fitting. The principle of the tension sensor is as follows: the resistance strain gauge is attached to the surface of an elastomer of the tension sensor, and the change of the tension can cause the deformation of metal and the deformation of the strain gauge; the deformation of the strain gauge can cause the change of the voltage on the bridge, and then the AD of the singlechip can sample the weak voltage and convert the weak voltage into a force value.

The data processor, the memory, the 4G communication module, the LoRa communication module, the Beidou time service module, the current induction power supply and the ternary lithium battery are all installed in one shell, and the whole shell is installed on a power transmission line conductor. The data processor mainly collects the data of the tension sensor according to the frequency of 100HZ, and the collected high-speed data are stored in the local memory. The 4G communication module is responsible for transmitting the collected tension data to the background server, i.e. the main control module 55, through the 4G network. The LoRa communication module is responsible for interaction with other modules and sending and receiving triggering commands. The Beidou time service module receives a clock signal of a Beidou satellite, then outputs a high-precision second pulse signal, and the data processor resets the nanosecond value of the internal real-time clock in real time in an interrupt mode, so that clock synchronization among the modules can be realized. The current induction power supply charges the lithium battery through voltage limiting and current limiting by utilizing the secondary voltage and current output by the current transformer. The lithium battery stores energy, and smooth primary side current fluctuation causes circuit supply shortage.

Specifically, the working principle of the tension acquisition module 11 is as follows: a tension acquisition module 11 for high-speed sampling and high-speed storage is arranged on a wire near the high-voltage side of the three-phase insulator string of the power transmission line, and the sampling frequency reaches 100HZ; a built-in high-precision clock synchronization function; meanwhile, the tension acquisition module 11 is externally provided with a local wireless communication function, and can receive external trigger signals and send local trigger signals through a wireless communication interface. The tension sensor is in a dormant low-power consumption mode at ordinary times, and enters a high-speed sampling stage after receiving an activation signal of the meteorological data acquisition module 33, and meanwhile, the tension sensor is in a tension impact triggering mode. When the trigger is reached, the sensor records the real-time clock and the high-speed sampled data sequence at that time. The sampling time length can be set in the background, and the data triggering the sampling is finally compressed and then sent to the background master station.

It should be noted that, the LoRa communication module adopts the LoRa communication protocol to perform wireless communication. The LoRa communication protocol is a low-power consumption local area network wireless standard developed by semtech company, the name of the LoRa is Long Range Radio, the LoRa communication protocol is characterized in that the LoRa communication protocol is farther than other wireless modes under the same power consumption condition, the low power consumption and the Long Range are unified, and the LoRa communication protocol is 3-5 times longer than the traditional wireless Radio frequency communication distance under the same power consumption.

Specifically, the motion data acquisition module mainly comprises inertial navigation module, big dipper high accuracy positioning module, big dipper high accuracy time service module, data processor, memory, 4G communication module, loRa communication module, current induction power supply and ternary lithium battery etc.. All unit modules in the motion data acquisition module are arranged in one shell, and the whole shell is arranged on a lead of a power transmission line.

The inertial navigation module is internally provided with a triaxial acceleration sensor and a triaxial angular velocity sensor, and sensor data are transmitted to the data processor according to the sampling speed of 100 HZ. And the Beidou high-precision positioning module realizes centimeter-level positioning by receiving each path of differential signals of the Beidou satellite and utilizing an RTK technology, and finally transmits real-time longitude and latitude and elevation data to the data processor. And the data processor performs secondary integration on the acceleration data according to the high-speed six-axis acceleration data and the Beidou positioning data transmitted by the inertial navigation module, then uses longitude and latitude data as stroke calibration, restores the stroke data into motion track data in a three-dimensional direction, and finally stores the high-speed track data in a local memory. The 4G communication module is responsible for transmitting the acquired high-speed track data to the background server through a 4G network. The LoRa communication module is responsible for interaction with other modules and sending and receiving triggering commands. The Beidou time service module receives a clock signal of a Beidou satellite, then the module outputs a high-precision second pulse signal, and the data processor resets the nanosecond value of the internal real-time clock in real time in an interrupt mode. Clock synchronization between acquisition modules is achieved. Current sensing power: and charging the lithium battery through voltage limiting and current limiting by utilizing the secondary voltage and current output by the current transformer. Lithium battery: the energy is stored, and the smooth primary side current fluctuation causes circuit supply shortage.

The RTK carrier phase difference technology is a difference method for processing the observed quantity of the carrier phases of two measuring stations in real time, and the carrier phases acquired by the reference station are sent to a user receiver to calculate the difference and calculate the coordinates. The method is a new common satellite positioning measurement method, the previous static, rapid static and dynamic measurement needs to be solved afterwards to obtain centimeter-level precision, and the RTK is a measurement method capable of obtaining centimeter-level positioning precision in real time in the field, and a carrier phase dynamic real-time difference method is adopted.

Specifically, the working principle of the motion data acquisition module is as follows: a motion data acquisition module based on inertial navigation and high-precision Beidou positioning functions is installed at a 1/3 gear distance of a three-phase lead of a power transmission line, and the sampling frequency reaches 100HZ. Meanwhile, the sensor is externally provided with a local wireless communication function, and can receive external trigger signals and send local trigger signals through a wireless communication interface. The sensor is in a dormant low-power consumption mode at ordinary times, and enters a high-speed sampling stage after receiving an activation signal of the weather station, and meanwhile, the sensor is in an acceleration impact triggering mode. When the trigger is reached, the sensor records the real-time clock, inertial navigation data of high-speed sampling and high-precision Beidou positioning sequence at the moment. The sampling duration can be set in the background, and the data triggering the sampling is finally compressed and then sent to a background server, namely the main control module 55.

The camera module 44 records and stores the motion process of the wire during the ice-removing jump, and sends the recorded data to the main control module 55. Specifically, the camera module 44 may be an anti-freezing camera, and the module mainly comprises a visible light module, an infrared light supplementing lamp, a photosensitive device, a heating component, a Beidou high-precision time service module, a data processor, a memory, a 4G communication module, a loRa communication module, a current induction power supply, a ternary lithium battery and the like. All of the unit modules of the camera module 44 may be mounted in one housing, with the entire housing being mounted on the conductor of the transmission line.

The visible light module is internally provided with a CMOS image sensor and a compression processor, outputs video stream of H.265 and picture data of JPG, and transmits the video stream and the picture data to the data processor. The infrared light supplementing lamp is turned on and off according to the switching signal of the photosensitive device, and mainly shoots at night to provide a light supplementing light source. The photosensitive device can identify daytime and night, and control the on/off of the infrared light supplementing lamp. The heating component can be used for deicing the lens, and after the data processor receives the ambient temperature and humidity and reaches the icing condition, the heating component is started to heat so as to prevent the surface of the lens of the camera from icing. The Beidou high-precision time service module receives a clock signal of a Beidou satellite, then outputs a high-precision second pulse signal, and the data processor resets the nanosecond value of the internal real-time clock in real time in an interrupt mode to realize clock synchronization among the modules. The data processor receives meteorological data, controls the video recording function of the visible light module and controls the 4G module, so that data remote transmission can be realized. The memory may hold video data for video and images. The 4G communication module is responsible for transmitting the acquired data to the background server through a 4G network. The LoRa communication module is responsible for interaction with other modules and sending and receiving triggering commands. The current induction power supply charges the lithium battery through voltage limiting and current limiting by utilizing the secondary voltage and current output by the current transformer. The lithium battery can store energy, and smooth primary side current fluctuation causes circuit supply shortage.

The working principle of the camera module 44 is: the camera module 44 (such as an anti-freezing ice-observing camera) is arranged on the wire near the suspension clamp of the transmission line wire, and the camera lens is provided with a heating ice-removing function, so that all-weather visual observation in the ice-covering period can be realized. The camera has an event video function, and simultaneously has a local wireless communication function, and can receive an external trigger signal through a wireless communication interface (such as a LoRa communication protocol). When the trigger is reached, the anti-freezing ice-watching camera can record the movement process of the lead in the ice-coating jumping process. Finally, the video file may be transmitted to the background master station, i.e., the master control module 55, through 4G.

The meteorological data acquisition module 33 acquires meteorological parameters of the power transmission line in real time and sends the meteorological parameters to the main control module 55. Specifically, the meteorological parameter acquisition module mainly comprises a temperature and humidity sensor, an atmospheric pressure sensor, an ultrasonic wind measuring sensor, a data processor, a LoRa communication module, a solar panel, a charge management controller, a lithium battery and the like, and the whole meteorological parameter acquisition module is installed on a transmission line tower.

The temperature and humidity sensor mainly collects ambient temperature and humidity, and data are transmitted to the data processor. The ultrasonic wind-wound sensor mainly transmits and receives ultrasonic waves. The atmospheric pressure sensor adopts a micro-electromechanical sensor, acquires atmospheric pressure by utilizing a piezoelectric effect, and transmits data to the data processor. The data processor reads the data of the temperature and humidity sensor and the atmospheric pressure sensor, sequentially controls the time difference of sending and receiving the data of the 4 ultrasonic sensors, and then calculates the wind speed and the wind direction of the actual horizontal wind. The LoRa communication module is responsible for interaction with other modules, triggering commands and sending and receiving meteorological data. The solar panel converts solar energy on the tower into electrical energy. The charge management controller charges the voltage and current of the solar energy into the lithium battery through the DC-DC circuit. The lithium battery is used for storing energy, and the primary side current fluctuation is smoothed to cause the circuit to be in short supply.

The working principle of the meteorological data acquisition module 33 is as follows: the meteorological data acquisition module 33 is installed on the tower, and in a preferred embodiment, the meteorological data acquisition module 33 is installed on a tower cross arm to acquire meteorological parameters of a power transmission line in real time, so that real-time measurement of ambient temperature, humidity, wind speed and wind direction is realized. And when the ambient temperature and humidity reach the set conditions, signals for activating other sensors are sent out. When the wind speed is greater than the set condition, signals for activating other sensors can be sent out.

The main control module 55 receives the tension value, the movement track data, the meteorological parameters and the video data, and monitors the deicing jumping process of the power transmission line in real time. The main control module 55 (such as a background master station) mainly receives various monitoring data of the front-end device, and displays the various monitoring data. The background master station automatically judges the deicing sequence of each phase, the dynamic impact condition of three-phase tension in the deicing process and the three-dimensional motion trail of the three-phase lead through the data of the monitoring device. The system can set an alarm threshold value of relevant impact load and the safety distance of the three-phase lead, and once the monitored data exceeds the alarm threshold value, the system can automatically push the data to relevant users.

The judging method of the main control module 55 is as follows: because the tension acquisition module 11 (three-phase tension acquisition) and the motion data acquisition module 22 both comprise time service modules, the clocks are in a synchronous state. When the sampling task is triggered, the tension acquisition module 11 and the motion data acquisition module 22 simultaneously sample at high speed and send relevant data to the master station, and the tension data change process and the motion trail of each phase of wire can be intuitively judged by judging the tension data change condition of each phase of wire.

In one embodiment, the tension acquisition module 11, the motion data acquisition module 22, and the camera module 44 each include: the current induction power supply is used for taking energy online by utilizing a conducting wire of parallel resonance of the current transformer, outputting secondary voltage and current, and charging the lithium battery through voltage limiting and current limiting.

In one embodiment, the tension acquisition module 11, the athletic data acquisition module 22, the meteorological data acquisition module 33, and the camera module 44 each include:

the time service module is used for realizing clock synchronization among the tension acquisition module 11, the motion data acquisition module 22, the meteorological data acquisition module 33 and the camera module 44.

In one embodiment, the weather data collection module 33, the tension collection module 11, the athletic data collection module 22, and the camera module 44 communicate wirelessly via a LoRa communication protocol.

In one embodiment, the tension acquisition module 11, the motion data acquisition module 22 and the camera module 44 are all arranged on a three-phase conductor of the transmission line, and the three modules are arranged on the conductor side, so that the weight and the volume of the components are all of a small-sized design. Particularly, the motion data acquisition module is arranged at the lowest position of the wire sag, and the design weight is less than 5kg; the tension acquisition module 11 and the camera module 44 are arranged near the hanging point of the insulator string at the high voltage side, the weight of the whole machine is lower than 8kg, and the influence on the additionally added weight load and vibration-proof performance of the power transmission wire is small.

Because the weather data collection module 33 on the tower side and the modules on the wire side use LoRa communication, the modules on the wire side are installed on the same side (all installed on the high-voltage side or the low-voltage side) of the tower, so that the reliability of wireless communication can be increased.

In a preferred embodiment, the tension acquisition module 11 can be installed near the high-voltage side wire of the hanging point of the insulator string; the motion data acquisition module 22 may be mounted near the lowest point of sag of the wire (high or low voltage side); a camera module 44, such as an anti-freeze camera, may be mounted between the damper and the first spacer extending outwardly from the insulator string suspension point.

The tension acquisition module, the motion data acquisition module, the meteorological data acquisition module, the camera module and the main control module in the embodiment of the invention have the on-site networking function, the intelligent degree of each module is high, the invention has a plurality of working modes, the functions of the traditional icing monitoring device can be realized, the high-speed sampling function is added, and the impact load influence in the wire deicing jumping process can be analyzed. According to the ice-removing jump monitoring device for the power transmission line, provided by the embodiment of the invention, each module is of a miniaturized design, and the influence of the weight of each module on the load and vibration-proof performance of the lead is small. After receiving the trigger signal sent by the meteorological data acquisition module, the tension acquisition module and the motion data acquisition module can perform high-speed sampling and high-speed storage, and the modules operate cooperatively, so that the real-time monitoring of wire deicing jump can be realized, and the safe and stable operation of the power system is ensured.

The sensor of each module in the embodiment of the invention is arranged at the high-voltage end of the lead, and the energy taking technology of the mutual inductor can be utilized, so that the maintenance-free power supply is realized, and the problem of insufficient solar energy supply of the ice-removing monitoring device in the ice-coating season is avoided.

Referring to fig. 7, the invention provides an embodiment of a method for monitoring ice-breaking jump of a power transmission line, which is applied to a device for monitoring ice-breaking jump of the power transmission line, and the method comprises the following steps:

S100: the tension acquisition module is used for carrying out high-speed sampling and high-speed storage on tension of a wire of the power transmission line in the deicing jumping process according to the trigger signal, and transmitting a tension value to the main control module;

s200: the motion data acquisition module is used for sampling and storing the motion trail data of the wire at a high speed in the deicing jumping process according to the trigger signal, and the motion trail data is sent to the main control module;

s300: the method comprises the steps of collecting weather parameters of the power transmission line in real time by using a weather data collecting module, and sending the weather parameters to the main control module;

s400: recording and storing the motion process of the lead in the deicing jumping process by using a camera module according to the trigger signal, and sending the recorded data to the main control module;

s500: and receiving the tension value, the motion trail data, the meteorological parameters and the video data by using a main control module, and monitoring the deicing jumping process of the power transmission line in real time.

Before the ice-removing jump monitoring device of the power transmission line is used for ice-removing jump monitoring, each acquisition module needs to be installed and a main control module needs to be deployed. When the monitoring device is installed, the meteorological data acquisition module 33 can be installed on the tower cross arm, and the tension acquisition module 11, the camera module 44 (such as an anti-freezing camera) and the motion data acquisition module 22 are installed on the guide wire. After the installation is finished, the power-on is needed to see whether the data of the background master station is received normally or not, and whether each acquisition module can receive the steady-state data of other modules normally or not.

It should be noted that, the whole weight and volume of each module are designed to be miniaturized, the whole assembly of the tension acquisition module and the camera module 44 (such as the anti-freezing camera) is lower than 8kg, and is installed near the hanging point of the insulator string or near the damper, and is installed at the motion data acquisition module 22 of the lowest point of the wire suspension, the whole weight is lower than 5kg, and the influence on the weight of the wire and the operation safety is reduced.

For the reliability of wireless communication, the tower provided with the meteorological data acquisition module 33 and the wires provided with the tension acquisition module, the motion data acquisition module 22 and the camera module 44 are located on the same side of the transmission line.

Basic information of the transmission line, such as wire type, running current of the wire, connection fitting type of the high-voltage side of the insulator string, etc., needs to be collected before each acquisition module is installed. Based on these basic information on site, the shape of the tension sensor and the device housing rubber mounted on the wire are customized.

It should be noted that, the tension sensor needs to be installed on the insulator string to replace the original connection hardware fitting, and the wire suspension modes used by different towers of different topography of different transmission lines are different, so that the model of the tension sensor hardware fitting needs to be customized according to the connection mode of the insulator string of each stage of tower of each line. According to the wide-range application of the tension sensor in the past, the common main stream connecting hardware fitting can be matched with the corresponding tension sensor.

Similarly, because the transmission power loads of different transmission lines are different and the wire diameters of the wires are different, the camera module 44 (such as an anti-freezing camera) installed on the wire side and the motion data acquisition module 22 for acquiring the motion of the wires need to be matched with different wire diameter specifications through rubber pieces. Therefore, before the devices such as the camera module 44 and the motion data acquisition module 22 are installed, the basic information of the transmission line, the tower hanging drawing and the wire diameter specification parameters need to be determined to match different structural members.

After each module is installed, the main station deployment is also needed. And installing a background master station program on a server of the running unit machine room, and setting account information of the access of related equipment.

In one embodiment, further comprising: the main control module 55 is used for setting the working modes of the tension acquisition module, the motion data acquisition module 22, the meteorological data acquisition module 33 and the camera module 44 and corresponding triggering conditions.

In one embodiment, the setting of the operation mode of the tension acquisition module and the corresponding triggering conditions by using the main control module 55 includes:

when the steady-state data of the tension exceeds a first preset proportion (such as 20%) when no ice coating exists, and the jumping percentage of the tension data in the first preset time (such as 5 s) exceeds a second preset proportion (such as 30%), the main control module 55 sets the tension acquisition module to start an ice-removing jumping mode;

When the fluctuation of the tension data is smaller than the third preset proportion (e.g. 5%), or the acceleration data is smaller than the first acceleration threshold (e.g. 0.1 g) in the second preset time, the main control module 55 sets the tension acquisition module to stop the ice-removing jump mode.

Specifically, the triggering conditions of the tension acquisition module can be set as follows: when the steady-state data of the tension exceeds 20% of the time without ice coating, and the jump percentage of the tension data exceeds 30% in the time range of 5 seconds, the data has the back and forth oscillation which becomes larger and smaller, and the wire is considered to have the ice-removing jump phenomenon. The data processor informs other acquisition modules to start rapid acquisition and storage through the LoRa communication module; at the same time, high-speed sampling and high-speed storage are started. Jump is considered to be stopped when the back and forth fluctuation of the tension data is less than 5% or the acceleration data is less than 0.1g, and the control of high-speed storage is stopped. Meanwhile, other acquisition modules are informed of stopping data storage through the LoRa communication module, and data packaging and sending to the background master station are started.

It should be noted that, firstly, under the non-icing working condition, the average value collected by the tension sensor (the influence of temperature drift on the sensor can be reduced by continuously observing for a long time through the main station), and the value can be set as the ice-free tension basic value; after entering the ice-covering period, the pulling force value of the tension sensor starts to slowly increase or decrease along with the weather condition (the pulling force value changes by a few percent in each hour or day, the changing amount is relatively gentle and can be considered as relatively steady-state data), and in the ice-melting operation process, after a large current is applied, the wire heats rapidly, and ice is melted rapidly in a few seconds or tens of seconds, and the weight load of the wire changes obviously in a short time, so that whether ice-breaking or abnormal conditions other than other non-operation tasks occur can be judged by the preset data jumping percentage in a short time.

In one embodiment, the setting of the operation mode and the corresponding triggering condition of the motion data acquisition module 22 by the main control module 55 includes:

when the value of the acceleration data exceeds a second acceleration threshold (such as 1 g), or when the steady state data of the tension exceeds a first preset proportion (such as 20%) without ice coating, the main control module 55 sets the motion data acquisition module 22 to start high-speed sampling and high-speed storage;

when the acceleration data is smaller than the first acceleration threshold (e.g., 0.1 g) in the second preset time, the main control module 55 sets the motion data acquisition module 22 to stop the high-speed sampling and the high-speed storage.

Specifically, the triggering conditions of the motion data acquisition module can be configured as follows: when the value of the acceleration exceeds 1g, and the steady-state data of the tension exceeds 20% of that of the ice without the ice coating, the high-speed sampling and high-speed storage of the motion data acquisition module are started. When the acceleration data is continuously less than 0.1g, the ice-breaking jump is considered to be stopped, and the high-speed storage is controlled to be stopped. Meanwhile, other acquisition modules are informed of stopping data storage through the LoRa communication module, and data package is started to be sent to the background master station.

In one embodiment, the setting of the operation mode and the corresponding triggering condition of the weather data collection module 33 by the main control module 55 includes:

When the received environmental temperature of the weather data collection module 33 is less than a first preset temperature (e.g. 2 degrees), and the environmental humidity is greater than a first humidity threshold (e.g. 90%), the main control module 55 sets the camera module 44 to start a heating mode;

when the current of the wire is greater than or equal to a current threshold (e.g. 75A), the main control module 55 sets the camera module 44 to start an all-day video recording mode;

when the current of the wire is less than the current threshold (e.g., 75A), the main control module 55 sets the camera module 44 to start triggering the video recording mode.

Specifically, the heating on condition of the camera module 44 such as the anti-freeze camera may be configured as follows: when the environmental temperature in the received data collected by the meteorological data collection module 33 is lower than 2 degrees and the environmental humidity is higher than 90%, the main control module 55 starts the heating function of the camera, and the icing condition is considered to be possessed. The heating power has a PWM regulating function, and can be determined according to the residual electric quantity of the lithium battery and the current value of line coupling.

It should be noted that the heating modes are divided into two modes, i.e., an adaptive heating mode and a manual heating mode. The manual adjustment mode is reserved for line research experiments and debugging, and the heating parameters can be modified and configured by sending commands through the master station.

The self-adaptive heating mode is to adaptively set heating parameters according to the capacity of the battery and the charging current condition of the circuit by the processor according to the meteorological conditions of the circuit environment. Firstly, it is necessary to ensure that the equipment is normally on-line, especially when the line load current is low, and if the equipment is always in a full power heating state, the battery power can be rapidly consumed, so that the equipment is off-line. The heating power is mainly controlled by PWM, for example, when the line load current reaches more than 200A and the heating starting condition is met, the equipment can start full-power heating, and the PWM value is 100; when the line load current is about 100A, the heating power ratio is 50%, namely the PWM value is 50; similarly, when the line current is low, only about 20A, the heating ratio is configured to be 20%, and so on; when the load current of the individual lines is small, for example, less than 10A, the equipment can also adaptively set the heating time, intensively heat and deicing after accumulating certain electric quantity, and the mode can be changed to carry out simulation test verification according to the actual line operation condition.

Specifically, the conditions for opening the video of the camera module 44, such as an anti-freeze camera, may be: the all-weather video recording function and the trigger video recording function can be configured according to the running current of the line. When the current of the lead is always above 75A, the current can be configured into a whole-day video; otherwise, configured to trigger video recording. When a synchronous sampling command of the LoRa communication port is received, the camera starts event video recording. If a stop command is received, the video camera stops recording. And finally, starting the video file to a background master station.

Specifically, the triggering conditions of the weather data acquisition module 33 may be set as follows: when the ambient temperature is lower than 3 ℃ and the ambient humidity is higher than 90%, other acquisition modules are informed to exit from the sleep mode through LoRa communication.

The operation and maintenance personnel pay attention to the data display condition of the background master station in the ice-covering period. After the data uploading of the deicing skip is completed, the background master station can actively inform a user, so that operation and maintenance personnel can check the situation of the scene. Through the master station showing technology, the conditions of impact load, galloping and swinging of the transmission line wire in the deicing and jumping process of the transmission line are truly restored.

It should be noted that, according to the ice-removing jump monitoring device for the power transmission line provided by the embodiment of the invention, each module of the ice-removing jump monitoring device has the self-adaptive switching function of the ice-covering period working mode and the non-ice-covering period working mode according to the environmental working condition.

In the non-icing working mode, the sampling interval of the device is longer, the device enters a slow sampling mode, generally 10 minutes or 20 minutes are used for sampling a group of data at intervals, the data size is small, the device automatically adjusts the running state of the CPU according to the self-running task process, the non-sampling time is short, the device is in a sleep mode, and the power consumption is saved; and when the sampling time comes, namely, the sleep mode is exited, the active mode is entered, and the steps of data acquisition, uploading and the like are carried out, so that the cyclic operation is carried out.

Under the ice-covered period but not under the ice-covered working condition, the equipment enters a rapid sampling mode, and the sampling interval is generally 5 minutes; in the ice coating period and under the ice coating working condition, the equipment enters a high-speed sampling mode, and the common sampling interval is in the second level; ice-removing jump condition: and the high-speed sampling mode is used for carrying out the high-speed acquisition mode according to the change of the tension value or the severe change of the motion data acquisition gesture data as a trigger condition, acquiring and uploading the corresponding sensors of each phase, and completing the corresponding data analysis and display by the main station to restore the wire deicing sequence and the motion state.

In the embodiment of the invention, the sensor of each acquisition module at the front end has the field networking function, the device has high intelligence and has various triggering linkage functions. The device has various working modes, not only can realize the functions of the original icing monitoring device, but also can realize the high-speed sampling function added on the original basis, and the damage analysis of impact load in the deicing jumping process is realized. By utilizing the energy taking technology of the mutual inductor, the sensor is installed at the high-voltage end as much as possible, so that maintenance-free power supply is realized, and the problem of insufficient solar energy supply of the device in ice-covered seasons is avoided.

The improvement of the embodiment of the invention mainly comprises the following aspects:

(1) On-line energy taking of conducting wire based on parallel resonance of current transformer

In the traditional mutual inductance energy taking method, an energy taking magnetic core arranged on a power transmission line has an open structure, and the magnetic core has an air gap to reduce the effective magnetic permeability, so that the energy taking current induced to the secondary side is reduced. When the primary side current (primary side) is smaller, the power output by the traditional energy-taking device is very low or even can not be output. In order to effectively solve the problem of small output power of the primary side small current traditional mutual inductance energy taking mode, the embodiment of the invention applies a mutual inductance energy taking method based on parallel resonance. Based on the traditional mutual inductance energy taking method, the secondary side of the magnetic core is connected with the matching capacitor in parallel, as shown in fig. 6, so that excitation inductance of the other magnetic cores is connected with the matching capacitor in parallel to resonate, loss of the excitation inductance to the energy transferred to the secondary side of the induced magnetic core is reduced, and more energy is induced to a rear-stage load.

(2) The time service module is introduced, the time of each part of the components is synchronous, the clock error is greatly reduced, the acquired data has high time consistency, and a more accurate judgment basis is provided for the analysis and judgment of the deicing sequence of the three-phase lead;

(3) And after the wire motion data acquisition module is introduced and the deicing jump process is triggered, three-phase wire motion state and characteristic quantity data are synchronously acquired, and the three-phase wire motion state and characteristic quantity data are sent to a background master station, namely a main control module 55, and various data are fused, so that the wire motion state weight load change condition in the deicing process is comprehensively judged, and the wire motion state weight load change condition is closer to the real wire stress posture change condition.

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 embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method 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

1. An ice-breaking jump monitoring device for a power transmission line, comprising:

2. The ice-breaking jump monitoring device of a power transmission line according to claim 1, wherein the tension acquisition module comprises at least:

3. The device for ice-breaking and jumping monitoring of a power transmission line according to claim 1, wherein the tension acquisition module, the motion data acquisition module, and the camera module each comprise:

4. The device for ice-breaking and jumping monitoring of a power transmission line according to claim 1, wherein the tension acquisition module, the motion data acquisition module, the meteorological data acquisition module, and the camera module each comprise:

5. The device for monitoring ice detachment and jump of a power transmission line according to claim 1, wherein the meteorological data acquisition module, the tension acquisition module, the motion data acquisition module and the camera module are in wireless communication through a LoRa communication protocol.

6. A method for monitoring ice-breaking jump of an electric transmission line, characterized by being applied to an ice-breaking jump monitoring device of an electric transmission line according to any one of claims 1 to 5, comprising the steps of:

7. The method for ice-breaking jump monitoring of an electric power transmission line according to claim 6, further comprising:

8. The method for ice-breaking jump monitoring of power transmission line according to claim 7, wherein setting the working mode of the tension acquisition module and the corresponding trigger condition by using the main control module comprises:

9. The method for ice-breaking jump monitoring of a power transmission line according to claim 8, wherein setting the operation mode of the motion data acquisition module and the corresponding trigger conditions by using the main control module comprises:

10. The method for ice-breaking jump monitoring of a power transmission line according to claim 8, wherein setting the working mode of the camera module and the corresponding trigger conditions by using the main control module comprises: