Substation status prediction system and method based on edge computing

Abstract

The present invention relates to the technical field of substation status supervision, and specifically to a substation status prediction system and method based on edge computing, wherein the system includes an edge collaborative analysis module, which extracts all inspection equipment in the coverage area corresponding to the edge computing server in the adjacent area of ​​the area to which the substation inspection assignment task belongs in the edge collaborative inspection feedback mode, and generates the inspection collaborative equipment corresponding to the substation inspection assignment task. The present invention realizes dynamic screening of the inspection collaborative equipment corresponding to the target inspection equipment by combining the location of each inspection equipment and the coverage area corresponding to the edge computing server, and intelligently generates the collaborative scheduling scheme corresponding to the substation inspection assignment task according to the screening results of the subsequent inspection collaborative equipment and the location of each substation to be monitored in the substation inspection assignment task, thereby ensuring the prediction accuracy of the subsequent operating status risk of each substation to be monitored.

Description

Technical Field

[0001] The present invention relates to the technical field of substation status supervision, and specifically to a substation status prediction system and method based on edge computing. Background Art

[0002] Substations are key places for receiving and distributing electric energy in power systems. Their operating status directly affects the safety and stability of the entire power grid. Therefore, real-time monitoring and prediction of substation status is of great significance for timely detection of potential faults, prevention of major accidents, and ensuring power grid safety.

[0003] In traditional power systems, substation status monitoring and prediction mainly rely on centralized data processing mode. This mode requires the collected data to be transmitted to a remote data center or cloud for processing, which has problems such as data transmission delay, high bandwidth usage, and insufficient security. These problems are becoming more and more prominent, especially in the context of the continuous expansion of power grid scale and the sharp increase in data volume. In order to overcome the limitations of traditional methods, edge computing technology has been introduced into the substation status prediction system.

[0004] However, the existing substation status prediction system based on edge computing lacks the means of coordinated scheduling of inspection equipment that actually monitors the operating status of the substation. It usually relies on one or more designated inspection equipment to monitor the substation to be monitored. It is unable to realize dynamic scheduling of inspection equipment based on actual conditions, and the utilization rate of the coverage range of edge computing servers is low, which leads to untimely acquisition of inspection data for the substation, which in turn affects the prediction results of the substation status in the subsequent process. Therefore, the existing technology has major defects. Summary of the invention

[0005] The purpose of the present invention is to provide a substation status prediction system and method based on edge computing to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solution: a substation state prediction method based on edge computing, the method comprising the following steps:

[0007] S1. The data terminal extracts the location of the substation to be monitored according to user needs and generates a substation inspection assignment task; according to the inspection equipment in the surrounding area of ​​the substation to be monitored, the target inspection equipment is locked, and the substation inspection assignment task is bound to the target inspection equipment;

[0008] S2. Analyze the task adaptation risk value of the current equipment operation status information of the target inspection equipment based on the substation inspection assignment task in combination with the current equipment operation status information of the target inspection equipment; according to the obtained task adaptation risk value, lock the task inspection mode of the target inspection equipment based on the substation inspection assignment task; the task inspection mode includes a single-machine inspection feedback mode and an edge collaborative inspection feedback mode;

[0009] S3. In the edge collaborative inspection feedback mode, all inspection devices in the coverage area corresponding to the edge computing servers in the adjacent area of ​​the area to which the substation inspection assignment task belongs are extracted to generate the inspection collaborative devices corresponding to the substation inspection assignment task;

[0010] S4. Generate a collaborative dispatching scheme corresponding to the substation inspection assignment task according to the location and operation status information of the target inspection equipment and the inspection collaborative equipment. During the process of the target inspection equipment and the inspection collaborative equipment performing the inspection operation according to the collaborative dispatching scheme corresponding to the obtained substation inspection assignment task, the inspection collaborative equipment feeds back the inspection results to the target inspection equipment through the network corresponding to the edge computing server in real time, and summarizes the inspection results of each collaborative inspection equipment in the target inspection equipment, and feeds back to the data terminal in real time.

[0011] S5. The data terminal predicts the subsequent operating status risk of each substation to be monitored based on the current time according to the inspection data of each substation in the substation inspection assignment task and the historical inspection data of the corresponding substation, and feeds back to the substation management personnel.

[0012] The present invention combines the location of each inspection device and the coverage area corresponding to the edge computing server to realize dynamic screening of the inspection collaborative equipment corresponding to the target inspection equipment, and intelligently generates a collaborative scheduling plan corresponding to the substation inspection assignment task based on the screening results of the subsequent inspection collaborative equipment and the location of each substation to be monitored in the substation inspection assignment task, thereby ensuring the timeliness and accuracy of the inspection results obtained for the substation to be monitored, and further ensuring the prediction accuracy of the subsequent operating status risk of each substation to be monitored.

[0013] Furthermore, the substation inspection assignment task is a set of substations to be monitored extracted by the data terminal according to user requirements;

[0014] When the data terminal locks the target inspection equipment, obtain the inspection equipment set that is a collection of inspection equipment that has a connection port with the data terminal in the surrounding area of ​​each substation location to be monitored, and the surrounding area of ​​the substation location is the area with the substation location as the center and within a preset unit radius; calculate the inspection area matching variable of each element in the inspection equipment set based on the area to which the substation inspection assignment task belongs, and the area to which the substation inspection task belongs is the maximum area surrounded by the substation locations to be monitored in the substation inspection task. The inspection area matching variable of the i-th element in the inspection equipment set based on the area to which the substation inspection assignment task belongs is recorded as P i ,

[0015] ,

[0016] Among them, L i represents the average value of the distances between the ith element in the inspection equipment set and the locations of the substations to be monitored corresponding to the substation inspection assignment tasks; R i It represents the radius of the circumscribed circle based on the area to which the substation inspection assignment task belongs, with the location of the substation to be monitored corresponding to the i-th element in the inspection equipment set as the center; SX represents the area to which the substation inspection task belongs; the inspection equipment corresponding to the element with the smallest inspection area matching variable in the inspection equipment set is used as the target inspection equipment locked by the data terminal.

[0017] Furthermore, when analyzing the task adaptation risk value of the substation inspection assignment task based on the current equipment operation status information of the target inspection equipment, the shortest inspection execution distance of the target inspection equipment based on the substation inspection assignment task is obtained, which is recorded as LX; the shortest inspection execution distance of the target inspection equipment based on the substation inspection assignment task is the distance corresponding to each inspection planned path in the database based on the current position of the target inspection equipment, the locations of each substation to be monitored in the substation inspection assignment task, and the charging position of the inspection equipment; the starting point of each inspection planned path in the database is the current position of the target inspection equipment, and the end point is the preset charging position of the inspection equipment, and each inspection planned path passes through the locations of each substation to be monitored in the substation inspection assignment task; the remaining cruising range in the current operation status information of the target equipment is obtained, which is recorded as XH, and the target inspection The task adaptation risk value of the current equipment operation status information of the device based on the substation inspection assignment task is equal to XH / LX-1; when the task inspection mode of the locked target inspection device based on the substation inspection assignment task is greater than or equal to 0, the task inspection mode of the target inspection device based on the substation inspection assignment task is determined to be a single-machine inspection feedback mode; when the task adaptation risk value of the current equipment operation status information of the target inspection device based on the substation inspection assignment task is less than 0, the task inspection mode of the target inspection device based on the substation inspection assignment task is determined to be an edge collaborative inspection feedback mode; the target inspection device in the single-machine inspection feedback mode feeds back the inspection data to the data terminal in real time through the wireless network during the inspection operation for the substation inspection assignment task.

[0018] Furthermore, when the inspection coordination device corresponding to the substation inspection assignment task is generated, a set consisting of all inspection devices in the coverage area corresponding to each adjacent area edge computing server of the area to which the substation inspection assignment task belongs is obtained, and recorded as the inspection candidate set; the intersection of the coverage area corresponding to each adjacent area edge computing server of the area to which the substation inspection assignment task belongs and the area to which the substation inspection assignment task belongs is taken as an inspection coordination area; the remaining mileage and historical fault information in the current operating status information of the inspection device corresponding to each element in each inspection candidate set are obtained, and the inspection coordination analysis value corresponding to each element in each inspection candidate set is calculated, and the inspection coordination analysis value corresponding to the jth element in the kth inspection candidate set is recorded as PC （k，j） ,

[0019] ,

[0020] Among them, XH （k，j）Indicates the remaining range of the jth element in the kth inspection candidate set at the current time; LX indicates the shortest inspection execution distance corresponding to the inspection assignment task of the target inspection equipment based on the substation; FP （k，j） TF represents the inspection data misjudgment frequency corresponding to the jth element in the kth inspection candidate set; （k，j） Indicates the abnormal transmission frequency of the inspection data corresponding to the jth element in the kth inspection candidate set;

[0021] The inspection data misjudgment frequency in the present invention represents the quotient of the frequency of the inspection results in the historical inspection data collected by the corresponding inspection equipment being inconsistent with the actual operating status of the corresponding substation divided by the total historical inspection frequency of the corresponding inspection equipment; the inspection data abnormal transmission frequency represents the quotient of the frequency of the inspection results in the historical inspection data collected by the corresponding inspection equipment being inconsistent before and after data transmission divided by the total data transmission frequency of the corresponding inspection equipment;

[0022] Sort the elements in each candidate inspection set in descending order according to the inspection collaborative analysis value, and remove the elements in the obtained sequence whose corresponding remaining cruising range is less than or equal to the maximum distance between the current inspection device position and the locations of each substation to be monitored in the corresponding inspection collaborative area, so as to obtain the candidate inspection device sequence corresponding to the corresponding candidate inspection set; obtain the maximum distance of the preset planned paths for each substation to be monitored in the inspection collaborative area corresponding to the candidate inspection set in the database, recorded as ML; obtain the inspection collaborative device subset corresponding to each inspection collaborative area, the inspection collaborative device subset is a set consisting of the first n elements in the candidate inspection device sequence corresponding to the corresponding inspection collaborative area, and n satisfies

[0023] ,

[0024] Where D represents the minimum circumscribed circle diameter of the corresponding inspection coordination area; L max Indicates the maximum distance from each substation to be monitored in the corresponding inspection coordination area to the nearest inspection equipment charging location; XH {m} It represents the remaining range of the mth element in the sequence of candidate inspection equipment corresponding to the corresponding inspection cooperation area at the current time; the set of inspection cooperation equipment corresponding to the substation inspection assignment task is the union of the inspection cooperation equipment subsets corresponding to each inspection cooperation area.

[0025] Furthermore, when the collaborative scheduling scheme corresponding to the substation inspection assignment task is generated, the inspection equipment in the inspection collaborative equipment subset corresponding to each inspection collaborative area is responsible for the inspection task of the substation to be monitored in the corresponding inspection collaborative area, and the target inspection equipment is responsible for the inspection task of the remaining monitored substations in the substation inspection assignment task except for the substation to be monitored in each inspection collaborative area containing the inspection collaborative equipment;

[0026] When generating a collaborative dispatching scheme in each inspection collaborative area, a collaborative dispatching alternative scheme corresponding to the corresponding inspection collaborative area is generated according to the inspection tasks of the substation to be monitored in the corresponding inspection collaborative area and the subset of inspection collaborative equipment corresponding to the corresponding inspection collaborative area; the number of substations to be monitored corresponding to each inspection collaborative equipment in each collaborative dispatching alternative scheme is one or more, and the substations to be monitored corresponding to each inspection collaborative equipment are different; the collaborative dispatching alternative scheme with the largest corresponding collaborative dispatching impact value is used as the collaborative dispatching scheme in the corresponding inspection collaborative area; the inspection equipment in the collaborative dispatching alternative scheme corresponding to the inspection task of the target inspection equipment is and only the target inspection equipment; the collaborative dispatching scheme corresponding to the substation inspection assignment task is a collection of the collaborative dispatching schemes in each inspection collaborative area and the collaborative dispatching schemes corresponding to the target inspection equipment;

[0027] In the process of the inspection collaborative device feeding back the inspection results to the target inspection device in real time through the network corresponding to the edge computing server, the edge computing servers corresponding to the locations of each inspection collaborative device and the target inspection device are obtained respectively; if the edge computing servers corresponding to the locations of the inspection collaborative device and the target inspection device are the same, the same-server information transmission between the inspection collaborative device and the target inspection device is performed through the corresponding edge computing server; if the edge computing servers corresponding to the locations of the inspection collaborative device and the target inspection device are different, cross-server information transmission between the inspection collaborative device and the target inspection device is performed through the corresponding edge computing server.

[0028] When executing the collaborative scheduling scheme corresponding to the substation inspection assignment task in the present invention, the target inspection equipment may have an inspection task whose cruising range is insufficient to complete the inspection requirements of all monitored substations in the corresponding inspection task. In this case, the target inspection equipment will feedback the monitored substations that have not completed the inspection to the data terminal.

[0029] Furthermore, the collaborative scheduling impact value corresponding to the collaborative scheduling alternative is recorded as XD.

[0030] ,

[0031] Among them, PC {d} ZB represents the inspection collaborative analysis value corresponding to the dth inspection collaborative device in the corresponding collaborative scheduling alternative; d It represents the quotient of the number of substations to be monitored in the inspection task corresponding to the dth inspection coordination device in the corresponding coordinated dispatch alternative scheme, divided by the number of substations to be monitored in the corresponding inspection coordination area; LGP dIt represents the difference between the remaining cruising range of the dth inspection collaborative device in the corresponding collaborative scheduling alternative plan and the shortest planned path distance of the inspection task corresponding to the corresponding inspection collaborative device in the database; MLmax obtains the maximum distance of the preset planned paths for each substation to be monitored in the inspection collaborative area corresponding to the corresponding collaborative scheduling alternative plan in the database.

[0032] Furthermore, when the prediction is based on the subsequent operating status risk of each monitored substation at the current time, a curve of the fluctuation characteristics of the inspection data in the time interval corresponding to any adjacent fault of the g-th monitored substation in the historical inspection data is obtained, and the obtained curve of the fluctuation characteristics of each inspection data is recorded as a fault prediction reference curve of the g-th monitored substation; the fluctuation characteristics of the inspection data are the difference between the maximum power supply voltage and the minimum power supply voltage within the preset monitoring threshold time before the corresponding time point; the curve of the fluctuation characteristics of the inspection data in the time interval corresponding to the g-th monitored substation from the last fault time point to the current time is obtained, recorded as Qg; Qg is compared with each fault prediction reference curve of the g-th monitored substation, and Qg is calculated based on the matching mapping points and corresponding fault mapping deviation values ​​of each fault prediction reference curve of the g-th monitored substation; Qg is based on the g-th monitored substation The matching mapping point of the fault prediction reference curve of the substation is the maximum time point in the curve where the deviation integral between the fault prediction reference curve of the g-th monitored substation is the smallest after the translation operation on Qg; the fault mapping deviation value is equal to the difference between the maximum time point in the corresponding fault prediction reference curve of the g-th monitored substation and the corresponding matching mapping point; the deviation integral between the translated curve and the fault prediction reference curve of the g-th monitored substation is equal to the cumulative sum of the absolute values ​​of the difference between the function value corresponding to each time point and the function value in the fault prediction reference curve of the g-th monitored substation at the corresponding time point within the time value interval corresponding to the translated curve; when the average value of each fault mapping deviation value corresponding to the g-th monitored substation is less than or equal to the preset threshold, it is determined that the g-th monitored substation based on the current time has a subsequent operating status risk; otherwise, it is determined that the g-th monitored substation based on the current time does not have a subsequent operating status risk.

[0033] The substation status prediction system based on edge computing includes the following modules:

[0034] A target binding module, wherein the target binding module controls the data terminal to extract the substation location to be monitored according to user requirements and generate a substation inspection assignment task; based on the inspection equipment in the surrounding area of ​​the substation location to be monitored, the target inspection equipment is locked, and the substation inspection assignment task is bound to the target inspection equipment;

[0035] A feedback mode intelligent locking module, wherein the feedback mode intelligent locking module combines the current equipment operation status information of the target inspection equipment, analyzes the task adaptation risk value of the current equipment operation status information of the target inspection equipment based on the substation inspection assignment task; according to the obtained task adaptation risk value, locks the task inspection mode of the target inspection equipment based on the substation inspection assignment task; the task inspection mode includes a single-machine inspection feedback mode and an edge collaborative inspection feedback mode;

[0036] An edge collaborative analysis module, in the edge collaborative inspection feedback mode, extracts all inspection devices in the coverage area corresponding to the edge computing servers in the adjacent area of ​​the area to which the substation inspection assignment task belongs, and generates the inspection collaborative devices corresponding to the substation inspection assignment task;

[0037] A collaborative dispatching and control module, which generates a collaborative dispatching scheme corresponding to the substation inspection assignment task according to the location and operation status information of the target inspection equipment and the inspection collaborative equipment; during the process of the target inspection equipment and the inspection collaborative equipment performing the inspection operation according to the collaborative dispatching scheme corresponding to the obtained substation inspection assignment task, the inspection collaborative equipment feeds back the inspection results to the target inspection equipment through the network corresponding to the edge computing server in real time, summarizes the inspection results of each collaborative inspection equipment in the target inspection equipment, and feeds back to the data terminal in real time;

[0038] The substation status risk prediction module controls the data terminal to predict the subsequent operating status risk of each monitored substation based on the current time according to the inspection data of each substation in the substation inspection assignment task and the historical inspection data of the corresponding substation, and feeds back to the substation management personnel.

[0039] Compared with the prior art, the beneficial effect achieved by the present invention is as follows: the present invention realizes dynamic screening of inspection collaborative equipment corresponding to the target inspection equipment by combining the location of each inspection equipment and the coverage area corresponding to the edge computing server, and intelligently generates a collaborative scheduling plan corresponding to the substation inspection assignment task based on the screening results of subsequent inspection collaborative equipment and the locations of each substation to be monitored in the substation inspection assignment task, thereby ensuring the timeliness and accuracy of the inspection results obtained for the substation to be monitored, and thus ensuring the prediction accuracy of the subsequent operating status risk of each substation to be monitored. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0041] Figure 1It is a structural schematic diagram of a substation state prediction system based on edge computing of the present invention;

[0042] Figure 2 It is a flow chart of the substation status prediction method based on edge computing of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] See also Figure 1 , the present invention provides a technical solution: a substation status prediction system based on edge computing, the system includes the following modules:

[0045] A target binding module, wherein the target binding module controls the data terminal to extract the substation location to be monitored according to user requirements and generate a substation inspection assignment task; based on the inspection equipment in the surrounding area of ​​the substation location to be monitored, the target inspection equipment is locked, and the substation inspection assignment task is bound to the target inspection equipment;

[0046] A feedback mode intelligent locking module, wherein the feedback mode intelligent locking module combines the current equipment operation status information of the target inspection equipment, analyzes the task adaptation risk value of the current equipment operation status information of the target inspection equipment based on the substation inspection assignment task; according to the obtained task adaptation risk value, locks the task inspection mode of the target inspection equipment based on the substation inspection assignment task; the task inspection mode includes a single-machine inspection feedback mode and an edge collaborative inspection feedback mode;

[0047] An edge collaborative analysis module, in the edge collaborative inspection feedback mode, extracts all inspection devices in the coverage area corresponding to the edge computing servers in the adjacent area of ​​the area to which the substation inspection assignment task belongs, and generates the inspection collaborative devices corresponding to the substation inspection assignment task;

[0048] A collaborative dispatching and control module, which generates a collaborative dispatching scheme corresponding to the substation inspection assignment task according to the location and operation status information of the target inspection equipment and the inspection collaborative equipment; during the process of the target inspection equipment and the inspection collaborative equipment performing the inspection operation according to the collaborative dispatching scheme corresponding to the obtained substation inspection assignment task, the inspection collaborative equipment feeds back the inspection results to the target inspection equipment through the network corresponding to the edge computing server in real time, summarizes the inspection results of each collaborative inspection equipment in the target inspection equipment, and feeds back to the data terminal in real time;

[0049] The substation status risk prediction module controls the data terminal to predict the subsequent operating status risk of each monitored substation based on the current time according to the inspection data of each substation in the substation inspection assignment task and the historical inspection data of the corresponding substation, and feeds back to the substation management personnel.

[0050] like Figure 2 As shown, a substation state prediction method based on edge computing includes the following steps:

[0051] S1. The data terminal extracts the location of the substation to be monitored according to user needs and generates a substation inspection assignment task; according to the inspection equipment in the surrounding area of ​​the substation to be monitored, the target inspection equipment is locked, and the substation inspection assignment task is bound to the target inspection equipment;

[0052] The substation inspection assignment task is a set of substations to be monitored extracted by the data terminal according to user needs; when the data terminal locks the target inspection equipment, the inspection equipment set that is a summary of the inspection equipment with a connection port to the data terminal in the surrounding area of ​​each substation location to be monitored is obtained, and the surrounding area of ​​the substation location is an area with the substation location as the center and within a preset unit radius; the inspection area matching variables of each element in the inspection equipment set based on the area to which the substation inspection assignment task belongs are calculated respectively, and the area to which the substation inspection task belongs is the maximum area surrounded by the substation locations to be monitored in the substation inspection task after being connected to each other; the inspection area matching variables of the i-th element in the inspection equipment set based on the area to which the substation inspection assignment task belongs are recorded as P i ,

[0053] ,

[0054] Among them, L i represents the average value of the distances between the ith element in the inspection equipment set and the locations of the substations to be monitored corresponding to the substation inspection assignment tasks; R i It represents the radius of the circumscribed circle based on the area to which the substation inspection assignment task belongs, with the location of the substation to be monitored corresponding to the i-th element in the inspection equipment set as the center; SX represents the area to which the substation inspection task belongs; the inspection equipment corresponding to the element with the smallest inspection area matching variable in the inspection equipment set is used as the target inspection equipment locked by the data terminal.

[0055] S2. Analyze the task adaptation risk value of the current equipment operation status information of the target inspection equipment based on the substation inspection assignment task in combination with the current equipment operation status information of the target inspection equipment; according to the obtained task adaptation risk value, lock the task inspection mode of the target inspection equipment based on the substation inspection assignment task; the task inspection mode includes a single-machine inspection feedback mode and an edge collaborative inspection feedback mode;

[0056] When analyzing the current equipment operation status information of the target inspection device based on the task adaptation risk value of the substation inspection assignment task, the shortest inspection execution distance of the target inspection device based on the substation inspection assignment task is obtained, which is recorded as LX; the shortest inspection execution distance of the target inspection device based on the substation inspection assignment task is the distance corresponding to each inspection planning path in the database based on the current position of the target inspection device, the locations of each substation to be monitored in the substation inspection assignment task, and the charging position of the inspection device; the starting point of each inspection planning path in the database is the current position of the target inspection device, and the end point is the preset charging position of the inspection device, and each inspection planning path passes through the locations of each substation to be monitored in the substation inspection assignment task; the remaining cruising range in the current operation status information of the target device is obtained, which is recorded as XH, and the target inspection device The task adaptation risk value of the previous equipment operation status information based on the substation inspection assignment task is equal to XH / LX-1; when the target inspection device is locked in the task inspection mode based on the substation inspection assignment task, when the task adaptation risk value of the current equipment operation status information of the target inspection device based on the substation inspection assignment task is greater than or equal to 0, then the task inspection mode of the target inspection device based on the substation inspection assignment task is determined to be a single-machine inspection feedback mode; when the task adaptation risk value of the current equipment operation status information of the target inspection device based on the substation inspection assignment task is less than 0, then the task inspection mode of the target inspection device based on the substation inspection assignment task is determined to be an edge collaborative inspection feedback mode; during the inspection operation for the substation inspection assignment task, the target inspection device under the single-machine inspection feedback mode feeds back the inspection data to the data terminal in real time through the wireless network.

[0057] S3. In the edge collaborative inspection feedback mode, all inspection devices in the coverage area corresponding to the edge computing servers in the adjacent area of ​​the area to which the substation inspection assignment task belongs are extracted to generate the inspection collaborative devices corresponding to the substation inspection assignment task;

[0058] When the inspection coordination device corresponding to the substation inspection assignment task is generated, a set consisting of all inspection devices in the coverage area corresponding to each adjacent area edge computing server of the area to which the substation inspection assignment task belongs is obtained, and recorded as the inspection candidate set; the intersection of the coverage area corresponding to each adjacent area edge computing server of the area to which the substation inspection assignment task belongs and the area to which the substation inspection assignment task belongs is taken as an inspection coordination area; the remaining cruising range and historical fault information in the current operating status information of the inspection device corresponding to each element in each inspection candidate set are obtained, and the inspection coordination analysis value corresponding to each element in each inspection candidate set is calculated, and the inspection coordination analysis value corresponding to the jth element in the kth inspection candidate set is recorded as PC （k，j） ,

[0059] ,

[0060] Among them, XH （k，j） Indicates the remaining range of the jth element in the kth inspection candidate set at the current time; LX indicates the shortest inspection execution distance corresponding to the inspection assignment task of the target inspection equipment based on the substation; FP （k，j） TF represents the inspection data misjudgment frequency corresponding to the jth element in the kth inspection candidate set; （k，j） Represents the abnormal transmission frequency of inspection data corresponding to the jth element in the kth inspection candidate set; the inspection data misjudgment frequency represents the quotient of the frequency of the inspection results in the historical inspection data collected by the corresponding inspection equipment being inconsistent with the actual operating status of the corresponding substation divided by the total historical inspection frequency of the corresponding inspection equipment; the inspection data abnormal transmission frequency represents the quotient of the frequency of the inspection results in the historical inspection data collected by the corresponding inspection equipment being inconsistent before and after data transmission divided by the total data transmission frequency of the corresponding inspection equipment; the elements in each inspection candidate set are sorted in descending order according to the inspection collaborative analysis value, and the elements in the obtained sequence whose corresponding remaining cruising range is less than or equal to the maximum distance between the current inspection equipment position and the positions of each substation to be monitored in the corresponding inspection collaborative area are eliminated to obtain the candidate inspection equipment sequence corresponding to the corresponding inspection candidate set;

[0061] In this embodiment, the elements whose corresponding remaining cruising range in the obtained sequence is less than or equal to the maximum distance between the current inspection device position and the locations of each substation to be monitored in the corresponding inspection coordination area are eliminated. This is to take into account the cruising range of the inspection coordination equipment and to avoid the situation where the cruising range of the corresponding inspection coordination equipment in the generated collaborative scheduling plan cannot complete the corresponding inspection task.

[0062] Obtain the maximum distance of the preset planned paths of each substation to be monitored in the inspection coordination area corresponding to the inspection candidate set in the database, recorded as ML; obtain the inspection coordination equipment subset corresponding to each inspection coordination area, the inspection coordination equipment subset is a set consisting of the first n elements in the candidate inspection equipment sequence corresponding to the corresponding inspection coordination area, and n satisfies

[0063] ,

[0064] Where D represents the minimum circumscribed circle diameter of the corresponding inspection coordination area; L max Indicates the maximum distance from each substation to be monitored in the corresponding inspection coordination area to the nearest inspection equipment charging location; XH {m} It represents the remaining range of the mth element in the sequence of candidate inspection equipment corresponding to the corresponding inspection cooperation area at the current time; the set of inspection cooperation equipment corresponding to the substation inspection assignment task is the union of the inspection cooperation equipment subsets corresponding to each inspection cooperation area.

[0065] S4. Generate a collaborative dispatching scheme corresponding to the substation inspection assignment task according to the location and operation status information of the target inspection equipment and the inspection collaborative equipment. During the process of the target inspection equipment and the inspection collaborative equipment performing the inspection operation according to the collaborative dispatching scheme corresponding to the obtained substation inspection assignment task, the inspection collaborative equipment feeds back the inspection results to the target inspection equipment through the network corresponding to the edge computing server in real time, and summarizes the inspection results of each collaborative inspection equipment in the target inspection equipment, and feeds back to the data terminal in real time.

[0066] When generating the collaborative scheduling scheme corresponding to the substation inspection assignment task, the inspection equipment in the inspection collaborative equipment subset corresponding to each inspection collaborative area is responsible for the inspection task of the substation to be monitored in the corresponding inspection collaborative area, and the target inspection equipment is responsible for the inspection task of the remaining monitored substations in the substation inspection assignment task except for the substation to be monitored in each inspection collaborative area containing the inspection collaborative equipment;

[0067] When generating a collaborative dispatching scheme in each inspection collaborative area, a collaborative dispatching alternative scheme corresponding to the corresponding inspection collaborative area is generated according to the inspection tasks of the substation to be monitored in the corresponding inspection collaborative area and the subset of inspection collaborative equipment corresponding to the corresponding inspection collaborative area; the number of substations to be monitored corresponding to each inspection collaborative equipment in each collaborative dispatching alternative scheme is one or more, and the substations to be monitored corresponding to each inspection collaborative equipment are different; the collaborative dispatching alternative scheme with the largest corresponding collaborative dispatching impact value is used as the collaborative dispatching scheme in the corresponding inspection collaborative area; the inspection equipment in the collaborative dispatching alternative scheme corresponding to the inspection task of the target inspection equipment includes and only has the target inspection equipment;

[0068] In this embodiment, the inspection coordination area may contain a substation to be monitored, but there may be no inspection coordination equipment in the corresponding inspection coordination area. In this case, all substations to be monitored in the corresponding inspection coordination area will be divided into the inspection tasks of the target inspection equipment to ensure that the operating status of the corresponding substation to be monitored is monitored in a timely manner.

[0069] The collaborative scheduling impact value corresponding to the collaborative scheduling alternative is recorded as XD.

[0070] ,

[0071] Among them, PC {d} ZB represents the inspection collaborative analysis value corresponding to the dth inspection collaborative device in the corresponding collaborative scheduling alternative; d It represents the quotient of the number of substations to be monitored in the inspection task corresponding to the dth inspection coordination device in the corresponding coordinated dispatch alternative scheme, divided by the number of substations to be monitored in the corresponding inspection coordination area; LGP d It represents the difference between the remaining cruising range of the dth patrol collaborative device in the corresponding collaborative scheduling alternative and the shortest planned path distance of the patrol task corresponding to the patrol collaborative device in the database; MLmax obtains the maximum distance of the preset planned paths of each substation to be monitored in the patrol collaborative area corresponding to the corresponding collaborative scheduling alternative in the database; the collaborative scheduling scheme corresponding to the substation patrol assignment task is the set of collaborative scheduling schemes in each patrol collaborative area and the collaborative scheduling scheme corresponding to the target patrol device;

[0072] In the process of the inspection collaborative device feeding back the inspection results to the target inspection device in real time through the network corresponding to the edge computing server, the edge computing servers corresponding to the locations of each inspection collaborative device and the target inspection device are obtained respectively; if the edge computing servers corresponding to the locations of the inspection collaborative device and the target inspection device are the same, the same-server information transmission between the inspection collaborative device and the target inspection device is performed through the corresponding edge computing server; if the edge computing servers corresponding to the locations of the inspection collaborative device and the target inspection device are different, cross-server information transmission between the inspection collaborative device and the target inspection device is performed through the corresponding edge computing server.

[0073] S5. The data terminal predicts the subsequent operation status risk of each substation to be monitored based on the current time according to the received inspection data of each substation in the substation inspection assignment task and the historical inspection data of the corresponding substation, and feeds back to the substation management personnel;

[0074] When the prediction is based on the subsequent operating status risk of each substation to be monitored at the current time, a curve of the fluctuation characteristics of the inspection data in the time interval corresponding to any adjacent fault of the g-th substation to be monitored in the historical inspection data is obtained, and the curve of the fluctuation characteristics of each inspection data obtained is recorded as a fault prediction reference curve of the g-th substation to be monitored; the fluctuation characteristics of the inspection data are the difference between the maximum power supply voltage and the minimum power supply voltage within the preset monitoring threshold time before the corresponding time point; the curve of the fluctuation characteristics of the inspection data in the time interval corresponding to the last fault time point to the current time of the g-th substation to be monitored is obtained, recorded as Qg; Qg is compared with each fault prediction reference curve of the g-th substation to be monitored, and Qg is calculated based on the matching mapping points and the corresponding fault mapping deviation values ​​of each fault prediction reference curve of the g-th substation to be monitored; Qg is calculated based on the matching mapping points of each fault prediction reference curve of the g-th substation to be monitored and the corresponding fault mapping deviation values ​​of each fault prediction reference curve of the g-th substation to be monitored; The matching mapping point of the fault prediction reference curve of the g-th substation to be monitored is the maximum time point in the curve where the deviation integral between the g-th substation to be monitored and the fault prediction reference curve is the smallest after the translation operation on Qg; the fault mapping deviation value is equal to the difference between the maximum time point in the corresponding fault prediction reference curve of the g-th substation to be monitored and the corresponding matching mapping point; the deviation integral between the translated curve and the fault prediction reference curve of the g-th substation to be monitored is equal to the cumulative sum of the absolute values ​​of the differences between the function values ​​corresponding to each time point and the function values ​​in the fault prediction reference curve of the g-th substation to be monitored at the corresponding time point within the time value interval corresponding to the translated curve; when the average value of each fault mapping deviation value corresponding to the g-th substation to be monitored is less than or equal to the preset threshold value, it is determined that the g-th substation to be monitored based on the current time has a subsequent operating status risk; otherwise, it is determined that the g-th substation to be monitored based on the current time does not have a subsequent operating status risk.

[0075] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0076] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A substation status prediction method based on edge computing, characterized in that: The method comprises the following steps: S1. The data terminal extracts the location of the substation to be monitored according to user needs and generates a substation inspection assignment task; according to the inspection equipment in the surrounding area of ​​the substation to be monitored, the target inspection equipment is locked, and the substation inspection assignment task is bound to the target inspection equipment; S2. Analyze the task adaptation risk value of the current equipment operation status information of the target inspection equipment based on the substation inspection assignment task in combination with the current equipment operation status information of the target inspection equipment; according to the obtained task adaptation risk value, lock the task inspection mode of the target inspection equipment based on the substation inspection assignment task; the task inspection mode includes a single-machine inspection feedback mode and an edge collaborative inspection feedback mode; S3. In the edge collaborative inspection feedback mode, all inspection devices in the coverage area corresponding to the edge computing servers in the adjacent area of ​​the area to which the substation inspection assignment task belongs are extracted to generate the inspection collaborative devices corresponding to the substation inspection assignment task; S4. Generate a collaborative dispatching scheme corresponding to the substation inspection assignment task according to the location and operation status information of the target inspection equipment and the inspection collaborative equipment. During the process of the target inspection equipment and the inspection collaborative equipment performing the inspection operation according to the collaborative dispatching scheme corresponding to the obtained substation inspection assignment task, the inspection collaborative equipment feeds back the inspection results to the target inspection equipment through the network corresponding to the edge computing server in real time, and summarizes the inspection results of each collaborative inspection equipment in the target inspection equipment, and feeds back to the data terminal in real time. S5. The data terminal predicts the subsequent operation status risk of each substation to be monitored based on the current time according to the received inspection data of each substation in the substation inspection assignment task and the historical inspection data of the corresponding substation, and feeds back to the substation management personnel; The substation inspection assignment task is a set of substations to be monitored extracted by the data terminal according to user requirements; When the data terminal locks the target inspection equipment, obtain the inspection equipment set that is a collection of inspection equipment that has a connection port with the data terminal in the surrounding area of ​​each substation location to be monitored, and the surrounding area of ​​the substation location is the area with the substation location as the center and within a preset unit radius; calculate the inspection area matching variable of each element in the inspection equipment set based on the area to which the substation inspection assignment task belongs, and the area to which the substation inspection assignment task belongs is the maximum area surrounded by the substation locations to be monitored in the substation inspection task. The inspection area matching variable of the i-th element in the inspection equipment set based on the area to which the substation inspection assignment task belongs is recorded as P i , ， Among them, L i represents the average value of the distances between the ith element in the inspection equipment set and the locations of the substations to be monitored corresponding to the substation inspection assignment tasks; R i It represents the radius of the circumscribed circle based on the area to which the substation inspection assignment task belongs, with the location of the substation to be monitored corresponding to the i-th element in the inspection equipment set as the center; SX represents the area to which the substation inspection task belongs; the inspection equipment corresponding to the element with the smallest inspection area matching variable in the inspection equipment set is used as the target inspection equipment locked by the data terminal.

2. The substation status prediction method based on edge computing according to claim 1 is characterized in that: When analyzing the current equipment operation status information of the target inspection equipment based on the task adaptation risk value of the substation inspection assignment task, the shortest inspection execution distance corresponding to the substation inspection assignment task of the target inspection equipment is obtained, which is recorded as LX; The shortest inspection execution distance corresponding to the target inspection equipment based on the substation inspection assignment task is the distance corresponding to each inspection planning path in the database based on the current position of the target inspection equipment, the positions of each substation to be monitored in the substation inspection assignment task, and the charging position of the inspection equipment; The starting point of each inspection planning path in the database is the current position of the target inspection equipment, and the end point is the preset charging position of the inspection equipment. In addition, each inspection planning path passes through the locations of each substation to be monitored in the substation inspection assignment task. Obtain the remaining cruising range in the current operating status information of the target device, recorded as XH, and the task adaptation risk value of the current device operating status information of the target inspection device based on the substation inspection assignment task is equal to XH / LX-1; When the task inspection mode of the locked target inspection device is based on the substation inspection assignment task, when the task adaptation risk value of the current equipment operation status information of the target inspection device based on the substation inspection assignment task is greater than or equal to 0, it is determined that the task inspection mode of the target inspection device based on the substation inspection assignment task is a single-machine inspection feedback mode; When the task adaptation risk value of the current equipment operation status information of the target inspection device based on the substation inspection assignment task is less than 0, the task inspection mode of the target inspection device based on the substation inspection assignment task is determined to be an edge collaborative inspection feedback mode; the target inspection device in the single-machine inspection feedback mode feeds back the inspection data to the data terminal in real time through the wireless network during the inspection operation for the substation inspection assignment task.

3. The substation status prediction method based on edge computing according to claim 1 is characterized in that: When the inspection coordination device corresponding to the substation inspection assignment task is generated, a set consisting of all inspection devices in the coverage area corresponding to each adjacent area edge computing server of the area to which the substation inspection assignment task belongs is obtained, and recorded as the inspection candidate set; the intersection of the coverage area corresponding to each adjacent area edge computing server of the area to which the substation inspection assignment task belongs and the area to which the substation inspection assignment task belongs is taken as an inspection coordination area; Obtain the remaining mileage and historical fault information in the current operating status information of the inspection equipment corresponding to each element in each inspection candidate set, calculate the inspection collaborative analysis value corresponding to each element in each inspection candidate set, and record the inspection collaborative analysis value corresponding to the jth element in the kth inspection candidate set as PC （k，j） , ， Among them, XH （k，j） Indicates the remaining range of the jth element in the kth inspection candidate set at the current time; LX indicates the shortest inspection execution distance corresponding to the inspection assignment task of the target inspection equipment based on the substation; FP （k，j） TF represents the inspection data misjudgment frequency corresponding to the jth element in the kth inspection candidate set; （k，j） Represents the abnormal transmission frequency of inspection data corresponding to the jth element in the kth inspection candidate set; sort the elements in each inspection candidate set according to the inspection collaborative analysis value from large to small, and remove the elements in the obtained sequence whose corresponding remaining cruising range is less than or equal to the maximum distance between the current inspection device position and the locations of each substation to be monitored in the corresponding inspection collaborative area, and obtain the alternative inspection equipment sequence corresponding to the corresponding inspection candidate set; obtain the maximum distance of the preset planned paths for each substation to be monitored in the inspection collaborative area corresponding to the inspection candidate set in the database, recorded as ML; obtain the inspection collaborative equipment subset corresponding to each inspection collaborative area, the inspection collaborative equipment subset is a set consisting of the first n elements in the alternative inspection equipment sequence corresponding to the corresponding inspection collaborative area, and n satisfies ， Where D represents the minimum circumscribed circle diameter of the corresponding inspection coordination area; L max Indicates the maximum distance from each substation to be monitored in the corresponding inspection coordination area to the nearest inspection equipment charging location; XH {m} It represents the remaining range of the mth element in the sequence of candidate inspection equipment corresponding to the corresponding inspection cooperation area at the current time; the set of inspection cooperation equipment corresponding to the substation inspection assignment task is the union of the inspection cooperation equipment subsets corresponding to each inspection cooperation area.

4. The substation status prediction method based on edge computing according to claim 3 is characterized in that: When generating the collaborative scheduling scheme corresponding to the substation inspection assignment task, the inspection equipment in the inspection collaborative equipment subset corresponding to each inspection collaborative area is responsible for the inspection task of the substation to be monitored in the corresponding inspection collaborative area, and the target inspection equipment is responsible for the inspection task of the remaining monitored substations in the substation inspection assignment task except for the substation to be monitored in each inspection collaborative area containing the inspection collaborative equipment; When generating a collaborative dispatching scheme in each inspection collaborative area, a collaborative dispatching alternative scheme corresponding to the corresponding inspection collaborative area is generated according to the inspection tasks of the substation to be monitored in the corresponding inspection collaborative area and the subset of inspection collaborative equipment corresponding to the corresponding inspection collaborative area; the number of substations to be monitored corresponding to each inspection collaborative equipment in each collaborative dispatching alternative scheme is one or more, and the substations to be monitored corresponding to each inspection collaborative equipment are different; the collaborative dispatching alternative scheme with the largest corresponding collaborative dispatching impact value is used as the collaborative dispatching scheme in the corresponding inspection collaborative area; the inspection equipment in the collaborative dispatching alternative scheme corresponding to the inspection task of the target inspection equipment is and only the target inspection equipment; the collaborative dispatching scheme corresponding to the substation inspection assignment task is a collection of the collaborative dispatching schemes in each inspection collaborative area and the collaborative dispatching schemes corresponding to the target inspection equipment; In the process of the inspection coordination device feeding back the inspection results to the target inspection device in real time through the network corresponding to the edge computing server, the edge computing servers corresponding to the locations of each inspection coordination device and the target inspection device are obtained respectively; If the edge computing servers corresponding to the locations of the inspection collaboration device and the target inspection device are the same, the same-server information transmission between the inspection collaboration device and the target inspection device is performed through the corresponding edge computing server; if the edge computing servers corresponding to the locations of the inspection collaboration device and the target inspection device are different, the cross-server information transmission between the inspection collaboration device and the target inspection device is performed through the corresponding edge computing server.

5. The substation status prediction method based on edge computing according to claim 4 is characterized in that: The collaborative scheduling impact value corresponding to the collaborative scheduling alternative is recorded as XD, and the calculation method is as follows: ， Among them, PC {d} ZB represents the inspection collaborative analysis value corresponding to the dth inspection collaborative device in the corresponding collaborative scheduling alternative; d It represents the quotient of the number of substations to be monitored in the inspection task corresponding to the dth inspection coordination device in the corresponding coordinated dispatch alternative scheme, divided by the number of substations to be monitored in the corresponding inspection coordination area; LGP d It represents the difference between the remaining cruising range of the dth inspection collaborative device in the corresponding collaborative scheduling alternative plan and the shortest planned path distance of the inspection task corresponding to the corresponding inspection collaborative device in the database; MLmax obtains the maximum distance of the preset planned paths for each substation to be monitored in the inspection collaborative area corresponding to the corresponding collaborative scheduling alternative plan in the database.

6. The substation status prediction method based on edge computing according to claim 4 is characterized in that: When the prediction is based on the subsequent operating status risk of each monitored substation at the current time, a curve of the fluctuation characteristics of the inspection data in the time interval corresponding to any adjacent fault of the g-th monitored substation in the historical inspection data is obtained, and the obtained curve of the fluctuation characteristics of each inspection data is recorded as a fault prediction reference curve of the g-th monitored substation; the fluctuation characteristics of the inspection data are the difference between the maximum power supply voltage and the minimum power supply voltage within the preset monitoring threshold time before the corresponding time point; the curve of the fluctuation characteristics of the inspection data in the time interval corresponding to the g-th monitored substation from the last fault time point to the current time is obtained, recorded as Qg; Compare Qg with each fault prediction reference curve of the g-th substation to be monitored, and calculate the matching mapping point of Qg based on each fault prediction reference curve of the g-th substation to be monitored and its corresponding fault mapping deviation value; the matching mapping point of Qg based on the fault prediction reference curve of the g-th substation to be monitored is the maximum time point in the curve where the deviation integral between Qg and the fault prediction reference curve of the g-th substation to be monitored is the smallest after the translation operation is performed on Qg; The fault mapping deviation value is equal to the difference between the maximum time point and the corresponding matching mapping point in the corresponding fault prediction reference curve of the g-th substation to be monitored; the deviation integral between the shifted curve and the fault prediction reference curve of the g-th substation to be monitored is equal to the cumulative sum of the absolute values ​​of the difference between the function value corresponding to each time point and the function value in the fault prediction reference curve of the g-th substation to be monitored at the corresponding time point within the time value interval corresponding to the shifted curve; when the average value of each fault mapping deviation value corresponding to the g-th substation to be monitored is less than or equal to the preset threshold, it is determined that the g-th substation to be monitored based on the current time has a subsequent operating status risk; Otherwise, it is determined that the g-th substation to be monitored based on the current time has no subsequent operating status risk.

7. A substation state prediction system based on edge computing, applying the substation state prediction method based on edge computing according to any one of claims 1 to 6, characterized in that: The system includes the following modules: A target binding module, which controls the data terminal to extract the location of the substation to be monitored according to user requirements and generates a substation inspection assignment task; According to the inspection equipment in the vicinity of the substation to be monitored, the target inspection equipment is locked, and the substation inspection assignment task is bound to the target inspection equipment; A feedback mode intelligent locking module, wherein the feedback mode intelligent locking module combines the current equipment operation status information of the target inspection equipment and analyzes the task adaptation risk value of the current equipment operation status information of the target inspection equipment based on the substation inspection assignment task; According to the obtained task adaptation risk value, the task inspection mode of the target inspection equipment based on the substation inspection assignment task is locked; The task inspection mode includes a single-machine inspection feedback mode and an edge collaborative inspection feedback mode; An edge collaborative analysis module, in the edge collaborative inspection feedback mode, extracts all inspection devices in the coverage area corresponding to the edge computing servers in the adjacent area of ​​the area to which the substation inspection assignment task belongs, and generates the inspection collaborative devices corresponding to the substation inspection assignment task; A collaborative dispatching and control module, which generates a collaborative dispatching scheme corresponding to the substation inspection assignment task according to the location and operation status information of the target inspection equipment and the inspection collaborative equipment; during the process of the target inspection equipment and the inspection collaborative equipment performing the inspection operation according to the collaborative dispatching scheme corresponding to the obtained substation inspection assignment task, the inspection collaborative equipment feeds back the inspection results to the target inspection equipment through the network corresponding to the edge computing server in real time, summarizes the inspection results of each collaborative inspection equipment in the target inspection equipment, and feeds back to the data terminal in real time; The substation status risk prediction module controls the data terminal to predict the subsequent operating status risk of each monitored substation based on the current time according to the inspection data of each substation in the substation inspection assignment task and the historical inspection data of the corresponding substation, and feeds back to the substation management personnel.

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