KR102110339B1 - Three-dimensional line spacing review method using overhead transmission line - Google Patents

Abstract

The present invention relates to an overhead transmission line three-dimensional line spacing review method using a ground Lidar. More specifically, provided is the overhead transmission line three-dimensional line spacing review method using a ground Lidar, which observes and monitors the amount of deflection or horizontal and vertical vibrations of a transmission line due to a galloping phenomenon or the external load by using the ground Lidar, so that a safety accident can be prevented in advance.

Description

Three-dimensional line spacing review method using overhead transmission line

The present invention relates to a three-dimensional (3D) line spacing review method for overhead power transmission line using ground riders, and more specifically, the amount of deflection of the transmission line due to the line-to-line galloping phenomenon or external load, or vibration and substation in the horizontal and vertical directions 3D line of overhead power transmission line using ground riders to prevent safety accidents by allowing observation and monitoring management of ground riders to ensure safe separation distance of power lines at incoming and outgoing (in, out) locations. It is about the separation method.

The types of transmission lines can be classified into two types: underground lines that directly buried power lines in the ground, and overhead lines that support and install power lines in the air at a predetermined height from the ground using pylons and insulators.

Currently, overhead lines are the mainstream of transmission lines due to problems associated with manufacturing costs of underground lines.

The overhead power transmission line consists of a power line for transporting power supplied from a power plant, a processing line for reducing the brain voltage induced in the power line due to lightning, and a neutral line for inducing current generated due to unbalanced factors. Depending on the support method, it can be largely classified into two types: suspension type and built-in type.

In the case of the built-in type, both ends of the power line are fixedly supported on both sides of the pylon through separate built-in clamps for positioning the overhead line apart from the ground in the air at a predetermined height, and then the power lines are interconnected through jumper lines. .

At this time, in order to support the jumper line that crosses both sides of the pylon from the pylon, a jumper device is used to support the jumper wire by fixing and installing a horizontal steel pipe at a position spaced apart from the pylon and fixing the jumper wire on the outer peripheral surface of the steel pipe. have.

However, after the jumper device is installed, the jumper device vibrates in the wind blowing direction by the wind blowing in a specific direction to the jumper line. In case of such vibration, the separation distance between the jumper line and the jumper device is increased for safety. do.

If this phenomenon is repeated, the pylon and the line collide or get caught, and also, as the wires and structures interfere, a safety accident such as disconnection or short circuit occurs.

In addition, the ultra-high-voltage transmission line has a temperature of 70 ~ 100 ℃, so that the galloping phenomenon (the phenomenon that the wires swing up, down, left, and right) increases rapidly or excessive deflection occurs due to natural external loads such as wind loads and snow loads. In this case, since the balance of the transmission tower is broken and an eccentric load is generated, an accident may occur in which the transmission tower is tilted or collapsed in severe cases.

In addition, due to excessive galloping phenomenon, a short circuit occurs or a spark occurs due to contact between the wires of the substation inlet and outlet, and the power transmission / reception power lines.

Japanese Patent Application Publication No. 2012-146262 (2012.08.02) Registered Patent Publication No. 10-1552589 (2015.09.14) Registered Patent Publication No. 10-1569654 (2015.11.16) Registered Patent Publication No. 10-1910436 (Dec. 28, 2018) Registered Patent Publication No. 10-1923139 (Nov. 28, 2018)

The present invention was created to solve the above-mentioned problems in the prior art as described above, and the amount of deflection of the transmission line due to the line-to-line galloping phenomenon or external load, vibration in the horizontal and vertical directions, and the power line in the substation. The main purpose is to provide a three-dimensional separation distance review method for overhead power transmission lines using ground riders to prevent safety accidents in advance by allowing observation and monitoring and management of ground riders to secure a safe separation distance. .

The present invention is a means for achieving the above object, a first step of acquiring a three-dimensional image by scanning a multi-faceted surface of the overhead power transmission line and the pylon structure as a 3D scanner as a ground rider; A second step of matching the respective faces of the 3D image scanned in the first step through alignment; A third step of converting the subject matched through the second step into point group data of a 3D image; A fourth step of converting the point cloud data converted in the third step into a CAD file; A fifth step of calculating a displacement result including displacement, line spacing, and ear canal from the design data of the subject from the CAD file changed in the fourth step; In;

In the first step, considering where the overhead power transmission line is located or the surrounding environment, a location at which the overhead power transmission line is to be measured is selected, and the selected laser signal is irradiated to the observation point with a ground lidar at the selected location to transmit the signal of the irradiated laser. Quantifying each wavelength region to obtain a 3D image;

After the first step, a step of extracting a matching basic element for registration is further performed, wherein the matching basic element extraction step includes object points, connection edges, planar patches, and occlusal edges from the signal of the laser irradiated with the ground lidar. Refers to converting the element to be converted into flat image data;

The second step is a step of matching data and generating it as a single file;

In the third step, the shape of the object is made into a point cloud, and the point cloud samples the overhead power transmission line when converting image data into point cloud data, expressing the depth of the sampled overhead power transmission line as a color and image, and mapping the 3D image. Refers to the step of extracting;

If the probability of snowing from the real-time weather station weather data obtained after the fifth step exceeds 50%, it communicates with the AP controller (Access Point Controller) 200 installed in the pylon (ST) according to the control signal of the base station server 100, It includes a main body housing 310; The main body housing 310 has a rectangular box shape, and a main body controller 320 is installed on the upper surface; An encoder line 330 is connected to the main body controller 320 to be configured to calculate a moving distance; A wireless communication module capable of short-range wireless communication is built in the main body controller 320; A support block 350 is fixed inside the body housing 310; A cylindrical wheel housing 360 is integrally fixed to one side of the support block 350; The upper portion of the wheel housing 360 is kept open in a certain radius; The wheel motor 380 is fixed to the other side of the support block 350; The motor shaft of the wheel motor 380 is exposed inside the wheel housing 360 through the support block 350 and the wheel housing 360 passing through the center; Fixed to the center of the wheel 370 inside the wheel housing 360; A battery 390 is installed on one side of the support block 350; The battery 390 is configured to be rechargeable by a plurality of solar modules (SMD) installed on the circumferential surface of the main body housing 310; The support block 350 and the wheel housing 360 and the idle block 450 and the idle wheel housing 460 of the form corresponding to the further provided, the idle wheel housing 460, the wheel housing 360, as opposed to the lower side A part of the circumference is opened, and an idle wheel 470 rotatably fixed to the idle block 450 is built in the interior; The support block 350 and the idle support block 450 are further characterized in that a sixth step of preventing a galloping phenomenon is further performed by driving the galloping prevention unit 300 fixed by a fixing bolt 500. Provides a method for examining the 3D spacing between overhead transmission lines using ground riders.

According to the present invention, it is possible to observe and monitor and manage the amount of deflection of the transmission line due to the galloping phenomenon between the lines or external loads, vibrations in the horizontal and vertical directions, and the distance between the substation and the power line to ensure the safe separation distance between power lines. By doing so, it is possible to obtain an effect that can prevent a safety accident.

In addition, the error rate is less than that of the conventional surveying method, and problems and solutions that appear through movement and deformation of objects through 3D modeling can be observed through simulation.

1 is an exemplary view showing an example of scanning a pylon using a lidar according to the present invention.
2 is an exemplary view showing an example modeled based on scan data using a lidar according to the present invention.
3 is an exemplary view of a line-to-line galloping prevention unit according to the present invention.
4 and 5 are exemplary views excerpting the internal structure and installation examples of the line-to-line galloping prevention unit of FIG.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

Generally, LiDAR (Light Detection and Ranging) measures the distance, concentration, speed, and shape of a measurement object from a change in time and intensity, frequency, and polarization state of a scattered or reflected laser by emitting a laser. Refers to techniques and apparatus for measuring physical properties.

In other words, just as a radar uses a microwave to observe the round trip time to an object, the distance can be measured using the same principle using a laser.

For example, a three-dimensional model of buildings and terrain can be created with high accuracy by using a tripod on the ground, and it can be mounted on aircraft and satellites to create a surface model.

LiDAR is a technology that enables image modeling of space, including distance information on the direction of the laser beam, and collects point cloud information through point-scanning based on the laser rangefinder technology, or reflects the light to the flash-laser at a wide angle. It is a technology capable of realizing a 3D image by collecting light through multiple array receiving elements.

Therefore, the ground rider described in the present invention means the above LiDAR, and in a very easy way, it can be regarded as a kind of 3D scanner capable of 3D scanning.

These ground riders have information on the three-dimensional coordinate points of the surveyed object, so they can process them to grasp the specifications of each part, which can be caused by movement or deformation of pylons, substations, transmission lines, etc. It can simulate problems and enable safety design in accordance with specifications.

In addition, the normal standard insulation interval and the phase insulation interval of the steel tower at the substation of the substation are shown in Table 1 below.

Accordingly, the separation between lines examines the separation between lines, phases, and structures of pylons and substations based on the criteria defined by the Korea Electric Power Corporation, and if necessary, conducts a simulation of the movement of the pylons through 3D modeling, which is expected results. Can be derived.

For example, as illustrated in FIG. 1, when 3D scanning is performed through a ground rider, it is possible to monitor a distance between lines between a pylon and a substation, a distance between lines between a plurality of pylons, and a distance between wires and structures.

By utilizing this, if the scanned information is modeled in 3D in connection with Auto CAD, the hull separation distance review table can be implemented in the form as shown in the example in FIG. 2. It is possible to make a safety design on whether it is done within, that is, it is possible to secure safety.

More specifically, considering where the overhead power transmission line is located or the surrounding environment, a location at which the overhead power transmission line is to be measured is selected, and a laser beam is irradiated to the observation point with a ground rider at the selected position, thereby transmitting the signal of the irradiated laser. Quantification is performed for each wavelength region.

When the laser is irradiated to the observation point, it may be irradiated while moving in a dynamic position, that is, it is preferable to irradiate in a static position, that is, in a non-moving state.

On the other hand, the ground rider can scan a shape within about 600m, and can check and calculate point cloud data for a distant subject.

Here, when working with the ground lidar, it is preferable to first check the position to be irradiated from various angles so that the unexpressed portion does not occur when quantifying the signal of the laser irradiated around the subject.

Then, during the laser irradiation, the expression limit point of the subject is determined in advance and scanned according to the limit point.

The expression portion of the subject may correspond to the point density of the laser irradiation signal.

In addition, the signal of the laser can be expressed as a numerical value quantified for each wavelength region.

Quantified values extract the basic elements of matching for mutual matching. The matching basic element may be converted into image data on a plane by matching elements including an object point, a connection edge, a plane patch, and a bridge edge from a signal from a laser irradiated with a ground lidar.

In the step of merging the image data into an alignment operation, data obtained from various angles may be merged and generated as a single file through the alignment operation.

Then, the shape of the desired object (such as a processed power transmission tower) is made into a point cloud, and the point cloud samples the overhead transmission line when converting image data into point cloud data, and the depth and color of the sampled transmission line are sampled. A 3D image mapped by being represented may be extracted.

The calculated value obtained through the above process can be transmitted to the main server, and a wireless terminal or a wired terminal using Wi-Fi, Bluetooth, LTE, or the like can be used.

In summary, the method for examining the 3D spacing between overhead power transmission lines using the ground lidar according to the present invention includes a first step of scanning a multifaceted surface of the overhead power transmission line and the pylon structure as a subject; A second step of matching each side of the object scanned in the first step through an alignment operation; A third step of converting the subject matched through the second step into point cloud data of a 3D image; A fourth step of converting the point cloud data converted in the third step into a CAD file; And a fifth step of calculating a displacement result including displacement, line spacing, and ear canal from the design data of the subject from the CAD file changed in the fourth step.

At this time, the scanning operation in the first step is an operation of taking a shape of an object into a three-dimensional shape by scanning (shooting) various surfaces of the object using a ground lidar.

In this case, the scan distance of the ground lidar may be about 600 m.

In the working method, the location to be scanned is first checked in various ways so that there is no part that cannot be expressed when scanning around the subject, and when scanning, the part of the object to be expressed is determined and scanned.

Here, the expression portion of the object corresponds to the dot density of the scan data.

Then, through the Align operation, the data received from multiple sides are merged to create a single file, which becomes point clould data.

In this way, the target that wants to know the separation distance is determined, and by using this as the reference value, the relative displacement is calculated for each time unit or frame unit, and statistical processing is performed to check the average separation distance. And it can be reflected in the design of the wiring of the overhead power transmission line.

In addition, in the present invention, as shown in FIGS. 3 to 5, when the probability of snowing from the obtained real-time weather station weather data exceeds 50%, the AP controller installed in the steel tower ST according to the control signal of the base station server 100 ( The sixth step of preventing the galloping phenomenon may be further performed by communicating with the Access Point Controller (200) to prevent the galloping unit 300 from being driven.

To this end, the base station server 100 is configured to receive weather data by real-time communication with a weather station server (not shown), and when the probability of snow falling on the day is predicted to be 50% or more, it is controlled by each AP controller 200 Send the command.

At this time, the AP controller 200 installed in each pylon ST is an access point controller that controls driving through short-range wireless communication, and controls driving of the anti-galloping unit 300.

Here, galloping (galloping) is said to be mainly aerodynamic instability caused by icing snow and self-excited vibration caused by strong winds, but it is different from electric wire vibration caused by normal breeze, and because of relatively low frequency and high amplitude vibration. It is often the cause of line-to-line short circuit accidents.

This galloping is a phenomenon in which the icing snow is formed in various shapes, and the piping acts like a wing due to the asymmetry of the wire cross-section, so that the electric wire continuously vibrates at low frequencies due to the lifting force caused by the horizontal wind and the interaction among the wires. However, if there is a snow flake and the shape or surface condition is up and down asymmetry with respect to the flow of air, vibration of a large amplitude (several cm to several tens of m) of low frequency (0.1 to 5 kHz) occurs.

In order to prevent such a galloping phenomenon, in the present invention, a galloping prevention unit 300 is used. The galloping prevention unit 300 includes a main body housing 310.

The main body housing 310 has a rectangular box shape, and a main body controller 320 is installed on the upper surface, and an encoder line 330 is connected to the main body controller 320 to calculate a moving distance.

In addition, a wireless communication module (not shown) capable of short-range wireless communication is built in the main body controller 320, which is configured to enable short-range wireless communication with the AP controller 200 through the antenna 340.

In addition, a support block 350 is fixed inside the main body housing 310, and a cylindrical wheel housing 360 is integrally fixed to one side of the support block 350.

At this time, the upper portion of the wheel housing 360 is kept open in a certain radius.

In addition, a wheel motor 380 is fixed to the other side of the support block 350, and the wheel motor 380 has a motor shaft through which the support block 350 and the wheel housing 360 penetrate the center. 360) is exposed inside, and is fixed firmly to the circle center of the wheel 370 inside the wheel housing 360.

Therefore, the wheel 370 rotates according to the rotation of the wheel motor 380.

In addition, an encoder is installed in the wheel motor 380, and an encoder line 330 drawn out from the encoder is connected to the main body controller 320 to calculate a moving distance of the wheel motor 380.

In addition, a battery 390, preferably a storage battery, is installed on one side of the support block 350, and the battery 390 is provided with a plurality of photovoltaic modules (SMD) installed on the circumferential surface of the main body housing 310. ).

Therefore, there is no problem in sweeping the wire a certain distance without supplying a separate power source.

Meanwhile, an idle block 450 and an idle wheel housing 460 in a form corresponding to the support block 350 and the wheel housing 360 are further provided.

In contrast to the wheel housing 360, a portion of the lower circumference of the idle wheel housing 460 is opened, and an idle wheel 470 rotatably fixed to the idle block 450 is built in.

At this time, it is particularly preferable that the wheel 370 and the idle wheel 470 are formed in a saddle shape so as to wrap the electric wire.

Therefore, when fastening between the blocks with the fixing bolt 500 in a state in which these wheels are engaged with the electric wires with the electric wires interposed therebetween, the anti-galloping unit 300 according to the present invention is maintained in a suspended state on the electric wires. Of course, it will be rotated and aligned in the direction of gravity so that the heavy portion is facing downward.

Nevertheless, since there is no problem in that the galloping prevention unit 300 flows, when the signal is received, the wheel motor 380 is driven to move the galloping prevention unit 300 to reciprocate a predetermined distance along the electric wire. Even if it snows, it prevents it from accumulating on the wires or freezing, preventing galloping.

This is designed to actively utilize weather data from the Korea Meteorological Administration, so it is possible to maintain a smooth operation by saving enough power in a relationship that is driven only when necessary.

100: base station server
200: AP controller
300: gallop prevention unit

Claims (1)

A first step of acquiring a three-dimensional image by scanning a multi-faceted surface of the overhead power transmission line and the steel tower structure as a 3D scanner; A second step of matching the respective faces of the 3D image scanned in the first step through alignment; A third step of converting the subject matched through the second step into point group data of a 3D image; A fourth step of converting the point cloud data converted in the third step into a CAD file; A fifth step of calculating displacement results including displacement, line spacing, and ear canal from the design data of the subject from the CAD file changed in the fourth step; In;
In the first step, considering where the overhead power transmission line is located or the surrounding environment, a location at which the overhead power transmission line is to be measured is selected, and the selected laser signal is irradiated to the observation point with a ground rider at the selected location to transmit the signal of the irradiated laser. Quantifying each wavelength region to obtain a 3D image;
After the first step, further performing a step of extracting a matching basic element for registration, wherein the matching basic element extraction step includes an object point, a connection edge, a plane patch, and a bridge edge from the signal of the laser irradiated with the ground lidar. Refers to converting the element to be converted into flat image data;
The second step is a step of matching data and generating it as a single file;
In the third step, the shape of the object is made into a point cloud, and the point cloud samples the overhead power transmission line when converting image data into point cloud data, and expresses the depth of the sampled overhead power transmission line in color and image to map the 3D image. Refers to the step of extracting;
If the probability of snowing from the real-time weather station weather data obtained after the fifth step exceeds 50%, it communicates with the AP controller (Access Point Controller) 200 installed in the pylon (ST) according to the control signal of the base station server 100, It includes a body housing 310; The main body housing 310 has a rectangular box shape, and a main body controller 320 is installed on the upper surface; An encoder line 330 is connected to the main body controller 320 to be configured to calculate a moving distance; A wireless communication module capable of short-range wireless communication is built in the main body controller 320; A support block 350 is fixed inside the body housing 310; A cylindrical wheel housing 360 is integrally fixed to one side of the support block 350; The upper portion of the wheel housing 360 is kept open in a certain radius; The wheel motor 380 is fixed to the other side of the support block 350; The motor shaft of the wheel motor 380 is exposed inside the wheel housing 360 through the support block 350 and the wheel housing 360 passing through the center; Fixed to the center of the wheel 370 inside the wheel housing 360; A battery 390 is installed on one side of the support block 350; The battery 390 is configured to be chargeable by a plurality of solar modules (SMD) installed on the peripheral surface of the main body housing 310; The support block 350 and the wheel housing 360 and the idle block 450 and the idle wheel housing 460 corresponding to the form is further provided, but the idle wheel housing 460 is lower than the wheel housing 360 A part of the circumference is opened, and an idle wheel 470 rotatably fixed to the idle block 450 is built in the interior; The support block 350 and the idle support block 450 are further characterized in that a sixth step of preventing a galloping phenomenon is further performed by driving the galloping prevention unit 300 which is fixed by a fixing bolt 500. A method for examining the distance between three-dimensional lines of overhead power transmission lines using ground riders.

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