A method for evaluating the accuracy of a disconnector monitoring system taking into account the installation location

Abstract

The application provides a disconnector monitoring system accuracy evaluation method considering installation positions, relates to the technical field of disconnector monitoring based on laser radars, and obtains attribute information of a target object and a target area, establishes a coordinate system with a laser radar installation point as an origin and a Gaussian distribution model of a laser radar point cloud, calculates a proportional coefficient of a target area under a laser radar monitoring angle and a bottom area of a laser beam conical model and an image imaging effect influence factor, and substitutes the proportional coefficient and the image imaging effect influence factor into a disconnector monitoring system accuracy formula to perform evaluation. The method can realize determination of disconnector monitoring system accuracy by using two-dimensional information, and simultaneously, inversion of the formula can obtain a ground installation position of the laser radar with the best monitoring effect, and has certain reference significance for selection of a fixed installation point of the laser radar in a substation for a long-term disconnector monitoring task.

Description

Technical Field

[0001] This invention relates to the field of disconnector status monitoring technology, and more specifically, to a method for evaluating the accuracy of a disconnector monitoring system that takes into account the installation location. Background Technology

[0002] With the deepening of smart grid construction in my country, power grid companies have placed higher demands on safety operation levels and service quality, leading to a significant increase in the workload of substation equipment maintenance and a more severe safety situation. How to improve the automation and intelligence level of the power grid, realize one-click sequential control of smart substation equipment, and improve effective labor productivity and power supply reliability has become an urgent problem to be solved in the current development of smart substation technology. As an important primary electrical device in smart substations, the intelligent high-voltage disconnect switch is a crucial component for isolating voltage and ensuring the safety of other primary equipment during substation maintenance. At the same time, improper closing of the disconnect switch is one of the important factors endangering the safe operation of the power grid.

[0003] Therefore, accurate assessment of disconnector status is crucial for high-voltage disconnector closing status monitoring systems. However, there is currently a lack of methods for assessing the accuracy of disconnector monitoring systems that take into account installation location, making it impossible to accurately evaluate the accuracy of disconnector monitoring systems when they are located in different installation locations during the testing and operation period. Summary of the Invention

[0004] The purpose of this invention is to provide an accuracy evaluation method for disconnector monitoring systems that takes into account the installation location, thereby overcoming the shortcomings of existing accuracy evaluation methods that rely solely on monitoring distance analysis. This method uses two dimensions of information to determine the accuracy of the disconnector monitoring system, and the inversion formula can obtain the ground installation location for optimal monitoring effect of the lidar. This provides a certain reference for the selection of fixed installation points for lidar in long-term monitoring tasks of disconnectors in substations.

[0005] To achieve the above objectives, the present invention provides a method for evaluating the accuracy of a disconnector monitoring system taking into account the installation location, comprising the following steps:

[0006] Step 1: Obtain the attribute information of the target object and the target region;

[0007] Step 2: Establish a coordinate system with the lidar installation point as the origin and a Gaussian distribution model of the lidar point cloud;

[0008] Step 3: Calculate the ratio coefficient of the target area to the base area of ​​the laser beam conical model under the lidar monitoring view and the image imaging effect influence factor based on Step 1 and Step 2.

[0009] Step 4: Substitute the calculation results from Step 3 into the accuracy formula of the disconnector monitoring system for evaluation;

[0010] Step 5: Verify the correctness of this method by using the angular error rate of the monitoring results from the one-click sequential control disconnector closing status visualization monitoring system platform based on lidar.

[0011] Furthermore, in step 1, the accuracy assessment of the disconnector monitoring system is determined using two dimensions: target attributes and image point cloud attributes. Target attributes include the height of the target disconnector's conductive arm above the ground, the horizontal distance between the target disconnector and the lidar, and the surface area of ​​the target disconnector's conductive arm. Image point cloud attributes include the distribution pattern of the laser beam emission surface point cloud and the laser beam divergence angle, etc.

[0012] Furthermore, in step 2, the beam range emitted by the lidar is considered as a conical model. The height of the conical model is determined by the height of the conductive arm of the disconnector from the ground. When the target object is located at different positions within the model, its target attribute information and image point cloud attributes will change. Therefore, based on the experimental monitoring of the disconnector's installation height, the ratio coefficient λ between the target area and the base area of ​​the laser beam conical model under the lidar monitoring perspective is determined. a It satisfies the formula:

[0013]

[0014] In the formula, λ a θ is the proportionality coefficient; R is the straight-line distance between the lidar and the conductive arm of the disconnect switch, in meters; θ is the divergence angle of the lidar beam; s g The surface area of ​​the conductive arm of the disconnector switch is expressed in m². 2 ;

[0015] Furthermore, in step 2, a one-dimensional coordinate system is established with the lidar installation point as the origin, and the distance from the lidar installation point to the target isolating switch installation point is taken as the positive direction of the coordinate axis. The lidar beam follows a Gaussian distribution model in the horizontal direction. That is, the horizontal distance l between the target object and the lidar installation point is taken as the variable, and the image imaging effect influencing factor function f(l) satisfies the formula:

[0016]

[0017] In the formula, f(l) is the image imaging effect influencing factor function; μ is the mean, which takes the value of 0; σ is the variance, which takes the value of 0.89; l is the horizontal distance between the target isolating switch and the lidar installation point, in meters;

[0018] Furthermore, in step 3, the accuracy δ of the disconnector monitoring system, which integrates target attributes, image point cloud attributes, and takes into account the installation location, satisfies the evaluation formula as follows:

[0019]

[0020] In the formula, δ is the accuracy parameter of the disconnector monitoring system; η t η is the transmission efficiency of laser light through the optical system. r To improve the transmission efficiency of the receiving optical system; K w The weight for the influence of location information is set to 0.614; K j The influence weight for lidar imaging is set to 0.386; α d This is an influencing factor caused by obstruction when the installation location is unsuitable. Δβ is the upper and lower angle difference of the lidar scanning disconnect switch; h is the height of the conductive arm of the disconnect switch from the ground, in meters.

[0021] Furthermore, in step 4, the larger the δ calculated by the formula, the better the monitoring effect of the disconnector monitoring system. When δ > 0.82, it indicates that the monitoring effect of the lidar monitoring system for disconnector status is accurate; when 0 < δ ≤ 0.82, it indicates that the monitoring effect of the lidar monitoring system for disconnector status is poor.

[0022] Furthermore, the one-click sequential control visual monitoring system platform for the closing status of the disconnector switch based on lidar in step 5 includes a lidar-based disconnector switch data acquisition system, a data conversion and transmission system, a point cloud data processing system, and a terminal management platform. By analyzing the correlation between the angular error rate of the monitoring results of this platform and the accuracy evaluation results of this method, the larger the angular error rate, the lower the accuracy, and the two are negatively correlated, which is used to verify the correctness of this method.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] This invention achieves a high accuracy assessment of the disconnector monitoring system by employing information from two dimensions. It solves the current problem of lacking a method to assess the accuracy of disconnector monitoring systems when changes in the installation location of lidar affect the system. Furthermore, the method can use an inversion formula to pre-determine the optimal ground installation location for lidar monitoring, providing valuable reference for selecting fixed installation points for long-term disconnector monitoring tasks within substations. Attached Figure Description

[0025] Figure 1 This is a flowchart of an accuracy evaluation method for a disconnector monitoring system that takes into account the installation location, according to the present invention.

[0026] Figure 2 This is a schematic diagram of an accuracy evaluation method for a disconnector monitoring system that takes into account the installation location, according to the present invention. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] like Figure 1 As shown, the present invention provides a method for evaluating the accuracy of a disconnector monitoring system taking into account the installation location, characterized by comprising the following steps:

[0029] Step 1: Obtain the attribute information of the target object and the target region, such as... Figure 2 As shown: including the experimental monitoring target disconnect switch conductive arm (2) at a height of 3.7 meters above the ground, the straight-line distance between the installation center point of the laser radar (1) and the installation center point of the disconnect switch, and the calculation of the surface area of ​​the conductive arms on both sides of the disconnect switch as a cuboid when the switch is closed. The target area attribute refers to the complexity of the environment in which the disconnect switch is located.

[0030] Step 2: Establish a coordinate system with the lidar installation point as the origin and a Gaussian distribution model of the lidar point cloud. The lidar (1) is installed on the center line perpendicular to the disconnector switch conductive arm (2) to ensure that the lidar (1) can capture the largest area of ​​the disconnector switch conductive arm at the same distance. A one-dimensional coordinate system is established with the lidar (1) installation point as the origin. The straight-line distance between the lidar installation center point and the disconnector installation center point is used as the coordinate variable. The established one-dimensional coordinate system is used to help characterize the Gaussian distribution model of the lidar point cloud.

[0031] Step 3: Calculate the ratio coefficient of the target area to the base area of ​​the laser beam conical model under the lidar monitoring view and the image imaging effect influence factor based on Step 1 and Step 2.

[0032] Step 4: Substitute the calculation results from Step 3 into the accuracy formula of the disconnector monitoring system for evaluation;

[0033] Step 5: The correctness of this method is verified by using the angular error rate of the monitoring results from the one-click sequential control of the disconnector switch closing status visualization monitoring system platform based on lidar. Multiple experiments are conducted, moving the lidar along the center line of the disconnector switch and testing its installation at different positions S1, S2, S3...Sn. The monitoring accuracy δ1, δ2, δ3...δn corresponding to different positions is processed using the terminal management platform, and the corresponding angle error rates θ1, θ2, θ3...θn of the disconnector switch conductive arm processed by the software algorithm are obtained. A correlation curve between monitoring accuracy and angle error rate is fitted, and their correlation is analyzed.

[0034] Furthermore, in step 1, the accuracy assessment of the disconnector monitoring system is determined using two dimensions: target attributes and image point cloud attributes. Target attributes include the height of the target disconnector's conductive arm above the ground, the horizontal distance between the target disconnector and the lidar, and the surface area of ​​the target disconnector's conductive arm. Image point cloud attributes include the distribution pattern of the laser beam emission surface point cloud and the laser beam divergence angle, etc.

[0035] Furthermore, in step 2, the beam range emitted by the lidar is considered as a conical model. The height of the conical model is determined by the height of the conductive arm of the disconnector from the ground. When the target object is located at different positions within the model, its target attribute information and image point cloud attributes will change. Therefore, based on the experimental monitoring of the disconnector's installation height, the ratio coefficient λ between the target area and the base area of ​​the laser beam conical model under the lidar monitoring perspective is determined. a Satisfying the formula:

[0036]

[0037] In the formula, λ a θ is the proportionality coefficient; R is the straight-line distance between the lidar and the conductive arm of the disconnect switch, in meters; θ is the divergence angle of the lidar beam; s g The surface area of ​​the conductive arm of the disconnector switch is expressed in m². 2 ;

[0038] Furthermore, in step 2, a one-dimensional coordinate system is established with the lidar installation point as the origin, and the line connecting the lidar installation point to the target isolating switch installation point is the positive direction of the coordinate axis. The lidar beam follows a Gaussian distribution model in the horizontal direction. That is, the horizontal distance l between the target object and the lidar installation point is taken as the variable, and the image imaging effect influencing factor function f(l) satisfies the formula:

[0039]

[0040] In the formula, f(l) is the image imaging effect influencing factor function; μ is the mean, which takes the value of 0; σ is the variance, which takes the value of 0.89; l is the horizontal distance between the target isolating switch and the lidar installation point, in meters;

[0041] Furthermore, in step 3, the accuracy δ of the disconnector monitoring system, which integrates target attributes, image point cloud attributes, and takes into account the installation location, satisfies the evaluation formula as follows:

[0042]

[0043] In the formula, δ is the accuracy parameter of the disconnector monitoring system; η t η is the transmission efficiency of laser light through the optical system. rTo improve the transmission efficiency of the receiving optical system; K w The weight for the influence of location information is set to 0.614; K j The influence weight for lidar imaging is set to 0.386; α d This is an influencing factor caused by obstruction when the installation location is unsuitable. Δβ is the upper and lower angle difference of the lidar scanning disconnect switch; h is the height of the conductive arm of the disconnect switch from the ground, in meters.

[0044] Furthermore, in step 4, the larger the δ calculated by the formula, the better the monitoring effect of the disconnector monitoring system. When δ > 0.82, it indicates that the monitoring effect of the lidar monitoring system for the disconnector status is accurate; when 0 < δ ≤ 0.82, it indicates that the monitoring effect of the lidar monitoring system for the disconnector status is poor.

[0045] Furthermore, the one-click sequential control visual monitoring system platform for the closing status of the disconnector switch based on lidar in step 5 includes a lidar-based disconnector switch data acquisition system, a data conversion and transmission system, a point cloud data processing system, and a terminal management platform. By analyzing the correlation between the angular error rate of the monitoring results of this platform and the accuracy evaluation results of this method, the larger the angular error rate, the lower the accuracy, and the two are negatively correlated, which is used to verify the correctness of this method.

[0046] The above description is merely an illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific structure described, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, and all such modifications or additions should fall within the protection scope of the present invention.

Claims

1. A method for evaluating the accuracy of a disconnector monitoring system taking into account the installation location, characterized in that, Includes the following steps: Step 1: Obtain the attribute information of the target object and the target region; Step 2: Establish an angular coordinate system with the lidar installation point as the origin and a Gaussian distribution model of the lidar point cloud; Step 3: Calculate the ratio coefficient of the target area to the base area of ​​the laser beam conical model under the lidar monitoring view and the image imaging effect influence factor based on Step 1 and Step 2. In step 3, the ratio coefficient between the target area and the base area of ​​the laser beam conical model under the monitoring viewpoint of the lidar is determined based on the installation height of the isolation switch during experimental monitoring. It satisfies the formula: In the formula, R is the proportionality coefficient; R is the straight-line distance between the lidar and the conductive arm of the disconnecting switch, in meters. The divergence angle of the laser radar beam; The surface area of ​​the conductive arm of the disconnector switch is expressed in m². 2 ; The lidar beam is considered to have a Gaussian distribution model along the horizontal direction, and the image imaging effect is influenced by the following factors. Satisfying the formula: In the formula, This is a function that influences image imaging performance. The mean is 0. The variance is 0.

89. The horizontal distance between the target disconnect switch and the lidar installation point is expressed in meters (m). Step 4: Substitute the calculation results from Step 3 into the accuracy formula of the disconnector monitoring system for evaluation; The accuracy of the disconnector monitoring system in step 4, taking into account the installation location, is also important. The evaluation formula is as follows: In the formula, For the accuracy parameters of the disconnector switch monitoring system; The transmission efficiency of laser light through the optical system; To improve the transmission efficiency of the receiving optical system; K w The weight for the influence of location information is set to 0.614; K j The influence weight for lidar imaging is set to 0.386; This is an influencing factor caused by obstruction when the installation location is unsuitable. ; The upper and lower angle difference of the lidar scanning disconnect switch; h is the height of the conductive arm of the disconnect switch from the ground, in meters. Step 5: Verify the correctness of this method by using the angular error rate of the monitoring results from the one-click sequential control disconnector closing status visualization monitoring system platform based on lidar. The correlation between the angular error rate of the monitoring results of the one-click sequential control disconnector closing status visualization monitoring system platform based on lidar in step 5 and the accuracy evaluation results of this method is used to verify the correctness of this method. The larger the angular error rate, the worse the accuracy. The two are negatively correlated.

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