Monitoring method of transformer substation construction monitoring system

Abstract

The invention discloses a monitoring method of a transformer substation construction monitoring system, and belongs to the field of transformer substation monitoring, the transformer substation construction monitoring system comprises a server and a plurality of positioning devices, each constructor wears one positioning device, and each construction machine is provided with at least one positioning device. And the positioning device is connected with the server through a network. According to the invention, the positions of all constructors and construction machinery are obtained in real time through the positioning device, and the positions of the constructors and the construction machinery are displayed in the substation panoramic model based on the substation panoramic model of the laser point cloud. And then, according to the substation panoramic model and the positions of the constructors and the construction machinery, calculating the distances between the constructors and the construction machinery and the substation equipment, comparing the distances with a set safety distance threshold value, and when the distances are smaller than the safety distance threshold value, sending out alarm information through a positioning device. Real-time, accurate and comprehensive transformer substation construction safety distance monitoring is realized.

Description

Technical Field

[0001] The invention relates to the field of substation monitoring, and in particular to a monitoring method for a substation construction monitoring system. Background Art

[0002] During the construction of a substation, it is necessary to monitor the construction site to prevent construction machinery and construction personnel from getting too close to the equipment in the substation, thereby ensuring a safe distance between the construction machinery and construction personnel and the substation equipment to avoid construction accidents.

[0003] There are generally two types of substation construction monitoring methods in the prior art:

[0004] 1. The construction site video surveillance system monitors the substation by installing cameras. The substation construction video surveillance system cannot accurately control the safe distance between construction vehicles and personnel and the equipment in the substation, which poses a safety hazard. At the same time, video transmission has high requirements for network quality. Network fluctuations can easily cause video transmission frame loss and freezes, resulting in the on-site and viewed videos being out of sync, and the construction site cannot be controlled in the first place.

[0005] 2. Use millimeter-wave radar to measure distance during construction to achieve close contact warning and early warning. The method of using millimeter-wave radar to detect the distance between people and vehicles cannot fully monitor the details of the construction, and cannot intelligently analyze and detect the safety distance, which poses certain safety risks. Summary of the invention

[0006] The present invention provides a monitoring method for a transformer substation construction monitoring system, which realizes real-time, accurate and comprehensive transformer substation construction safety distance monitoring.

[0007] The present invention provides the following technical solutions:

[0008] A monitoring method for a substation construction monitoring system, the substation construction monitoring system comprising a server and a plurality of positioning devices, each construction worker wears one positioning device, each construction machine is equipped with at least one positioning device, and the positioning device is connected to the server via a network;

[0009] Wherein, the monitoring method comprises:

[0010] S1: The positioning device uploads its own location information to the server in real time;

[0011] S2: the server loads a pre-established substation panoramic model, wherein the substation panoramic model includes models of various substation equipment;

[0012] S3: the server receives the location information uploaded by the positioning device in real time, and displays the model of each construction worker and construction machinery in the substation panoramic model according to the received location information;

[0013] S4: The server calculates in real time the distance between the model of each construction worker and construction machine and the model of each substation equipment;

[0014] S5: The server compares the calculated distance with a preset safety distance threshold, and if the calculated distance is less than the safety distance threshold, sends an alarm message to the corresponding positioning device;

[0015] S6: After receiving the alarm information, the positioning device issues an alarm prompt.

[0016] Further, the S2 includes:

[0017] S21: the server loads the substation panoramic cloud data pre-scanned by a laser radar device;

[0018] S22: The server converts the longitude, latitude and altitude data of each point of the substation panoramic cloud data into X, Y and Z values ​​of the UTM coordinate system to obtain a substation panoramic model including models of various substation equipment.

[0019] Furthermore, the S2 further includes:

[0020] S23: The server sets a powered state flag for each point of the model of the selected substation equipment to distinguish the powered state and the non-powered state of the selected substation equipment.

[0021] Further, the S3 includes:

[0022] S31: the server receives the location information uploaded by the positioning device in real time;

[0023] S32: the server converts the longitude, latitude and altitude data in each received location information into X, Y and Z values ​​of the UTM coordinate system;

[0024] S33: The server displays the construction personnel and construction machinery in the substation panoramic model in the form of proportional models according to the construction personnel and construction machinery corresponding to each positioning device.

[0025] Furthermore, the construction machine is equipped with a plurality of positioning devices at a plurality of installation positions, and the plurality of positioning devices obtain position information of a plurality of positions of the construction machine, thereby determining the position and movement of the construction machine through the position information of the plurality of positions;

[0026] The S33 includes: the server determines the position and movement of the construction machinery according to the installation positions of multiple positioning devices of the construction machinery, and displays the construction machinery in the substation panoramic model in the form of a proportional model according to the determined position and movement.

[0027] Furthermore, the construction machinery is a crane, and a positioning device is respectively installed at the top, middle and bottom of the crane arm, and a plurality of positioning devices are installed at set positions on the body of the crane.

[0028] Furthermore, the S3 also includes:

[0029] S34: The server displays the movement tracks of the construction personnel and construction machinery in real time in the panoramic model of the substation.

[0030] Furthermore, before S32, the step also includes: the server denoising, compensating and storing the location information.

[0031] Further, the S4 includes:

[0032] S41: The server extracts the model of the nearest substation equipment according to the model of any construction worker and construction machinery;

[0033] S42: the server extracts a portion of edge points closest to the models of the construction personnel and the construction machinery from the extracted model of the substation equipment as feature points of the model of the substation equipment;

[0034] S43: The server calculates the distance between each feature point and the models of the construction personnel and the construction machinery, and takes the minimum value of all calculated distances.

[0035] Furthermore, the positioning device is a real-time dynamic differential positioning device, the positioning device is equipped with a SIM card, and the alarm prompt issued by the positioning device is an audible and visual alarm.

[0036] The present invention has the following beneficial effects:

[0037] The present invention obtains the positions of each construction worker and construction machinery in real time through a positioning device, and displays the positions of the construction workers and construction machinery in the substation panoramic model based on the substation panoramic model of the laser point cloud. Then, according to the substation panoramic model and the positions of the construction workers and construction machinery, the distance between the construction workers and construction machinery and the substation equipment is calculated and compared with the set safety distance threshold. When it is less than the safety distance threshold, an alarm message is issued through the positioning device. Real-time, accurate and comprehensive substation construction safety distance monitoring is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a module schematic diagram of the substation construction monitoring system of the present invention;

[0039] Figure 2 It is a flow chart of the monitoring method of the substation construction monitoring system of the present invention;

[0040] Figure 3 A schematic diagram of each module of the server. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0042] The present invention provides a monitoring method for a substation construction monitoring system, such as Figure 1 As shown, the substation construction monitoring system includes a server 1 and multiple positioning devices 2. The positioning device 2 can be a high-precision real-time dynamic differential positioning device, that is, a high-precision RTK (Real Time Kinematic, real-time dynamic differential positioning) positioning device. At the construction site, each construction worker can wear a positioning device 2, and each construction machine can be equipped with at least one positioning device 2.

[0043] The positioning device 2 is connected to the server 1 through a network. For example, the positioning device 2 is equipped with a SIM card, and a 4G / 5G connection is established with the server 1 through the SIM card (Subscriber Identity Module), so that data can be transmitted to the server in real time, ensuring the timeliness and accuracy of the positioning data.

[0044] The high-precision RTK positioning equipment cooperates with the 5G network to upload data, and the delay can be controlled within 1s. The high-precision positioning device plus the Beidou-3 satellite system has more accurate positioning accuracy, and the error can be controlled within 3cm.

[0045] The server 1 may include a substation panoramic display module, a real-time distance measurement module, an alarm and alarm determination module, a data processing module, etc. Figure 3 During the construction process, the location data collected by the RTK equipment is uploaded to the data processing module in real time, and the data processing module distributes the latest data to the panoramic display module and the distance measurement module in real time to ensure the synchronization between the display and the actual position in the panoramic model, and at the same time ensure the synchronization of the distance measurement by the distance measurement module, so that the alarm and alarm judgment module can issue an alarm in time and discover safety hazards in time.

[0046] Based on the aforementioned substation construction monitoring system, its monitoring method is as follows: Figure 2 As shown, including:

[0047] S1: The positioning device uploads its own location information to the server in real time.

[0048] Exemplarily, the positioning device may regularly upload the location information in real time once a second.

[0049] S2: The server loads a pre-established substation panoramic model, which includes models of various substation equipment.

[0050] In one example, this step is implemented by a panoramic display module of the server, and may specifically include:

[0051] S21: The server loads the substation panoramic cloud data pre-scanned by the lidar device.

[0052] S22: The server converts the longitude, latitude and altitude data of each point in the substation panoramic cloud data into X, Y and Z values ​​of the UTM (UNIVERSAL TRANSVERSE MERCARTOR GRID SYSTEM) coordinate system to obtain a substation panoramic model including models of each substation equipment.

[0053] In the prior art, 2. the method for detecting the distance between people and vehicles by using millimeter wave radar cannot distinguish the detection distance between powered devices and non-powered devices. To solve this problem, S2 of the present invention may also include:

[0054] S23: The server sets a powered state flag for each point of the model of the selected substation equipment to distinguish the powered state and the non-powered state of the selected substation equipment.

[0055] For key substation equipment, its model points are marked and processed with live state marks so that they can be distinguished according to live state and non-live state. For live state and non-live state, the subsequent safety distance threshold can be set to different values. As an example, the safety distance threshold for live state is greater than that for non-live state.

[0056] S3: The server receives the location information uploaded by the positioning device in real time, and displays the model of each construction worker and construction machine in the substation panoramic model according to the received location information.

[0057] The location information is processed by the data processing module of the server and distributed to the panoramic display module and the real-time ranging module. The panoramic display module will integrate and display the location information uploaded by the high-precision RTK positioning device on the basis of displaying the panoramic model of the substation.

[0058] As an example, S3 includes:

[0059] S31: The server receives the location information uploaded by the positioning device in real time.

[0060] After receiving the location information, the data processing module of the server can denoise, compensate and store the location information.

[0061] S32: For each received location information, the server converts the longitude, latitude and altitude data in the location information into X, Y and Z values ​​of the UTM coordinate system.

[0062] S33: The server displays the construction personnel and construction machinery in the substation panoramic model in the form of proportional models according to the construction personnel and construction machinery corresponding to each positioning device.

[0063] When the RTK device starts to regularly upload real-time position information, S3 can also include:

[0064] S34: The server displays the movement trajectories of the construction personnel and construction machinery in real time in the panoramic model of the substation, and simulates the position changes and movement trajectories of the construction personnel and construction machinery at the construction site by means of proportional icons.

[0065] During the construction process, the position trajectory data uploaded by the high-precision RTK positioning device will be saved in the data processing module. After the construction is completed, the motion trajectory of each construction can be replayed and analyzed to analyze the safety hazards in the construction process.

[0066] S4: The server calculates the distance between the model of each construction worker and construction machine and the model of each substation equipment in real time.

[0067] This step is performed through the real-time distance measurement module of the server. The real-time distance measurement module will calculate the distance between the high-precision RTK positioning device and the equipment in the substation, and pass the distance data to the alarm and alarm determination module.

[0068] As an implementation, S4 may include:

[0069] S41: The server extracts the model of the nearest substation equipment based on the model of any construction worker and construction machinery.

[0070] S42: The server extracts a portion of edge points closest to the models of construction personnel and construction machinery from the extracted model of the substation equipment as feature points of the model of the substation equipment;

[0071] S43: The server calculates the distance between each feature point and the models of the construction personnel and the construction machinery, and takes the minimum value of all calculated distances.

[0072] The working principle of the real-time ranging module is that after obtaining the location point information uploaded by one or more RTK devices, the model of the substation equipment closest to the location point is first extracted, and then a part of the edge points closest to the location point are extracted from the model as the feature points of the model, and then the formula is used to calculate the distance between the substation equipment and the location point. The distance between the feature point and the position point can be calculated, and the calculated closest distance value is passed to the alarm cancellation judgment module.

[0073] S6: The server compares the calculated distance with a preset safety distance threshold. If the calculated distance is less than the safety distance threshold, an alarm message is sent to the corresponding positioning device.

[0074] This step is performed by the alarm cancellation judgment module, which determines whether to generate an alarm or whether an existing alarm needs to be cancelled based on the set safety distance threshold.

[0075] The safety distance threshold can be set as needed, for example, the distance required for construction safety can be used as the safety distance threshold, or the safety distance threshold can be pre-set according to site needs. The safety distance threshold also needs to consider the energized state of the substation equipment. As a preferred embodiment, the safety distance threshold for the energized state is greater than that for the non-energized state.

[0076] S7: After receiving the alarm information, the positioning device issues an alarm prompt.

[0077] The alarm prompt issued by the positioning device can be an audible and visual alarm to remind the personnel and construction machinery under construction, so as to achieve the purpose of early warning and alarm.

[0078] As an improvement, a construction machine may be equipped with multiple positioning devices at multiple installation positions, and the multiple positioning devices acquire position information of multiple positions of the construction machine, thereby determining the position and movement of the construction machine through the position information of multiple positions.

[0079] For example, if the construction machinery is a crane, a positioning device is installed at the top, middle and bottom of the crane's boom to monitor the running track of the crane's boom in the air during the construction process. Several positioning devices are installed at set positions on the crane's body to detect the rotation radius of the crane during the construction process. In this way, the crane's movements during the entire construction process can be monitored.

[0080] Correspondingly, S33 includes: the server determines the position and movement of the construction machinery according to the installation positions of multiple positioning devices of the construction machinery, and displays the construction machinery in the substation panoramic model in the form of a proportional model according to the determined position and movement.

[0081] Taking a city’s 220kV substation as an example, it is first necessary to use laser point cloud equipment to model the substation’s point cloud data. After the modeling is completed, it is necessary to perform model repair, restoration, and mapping processing to restore the real scene of the substation.

[0082] When there is construction at the substation, high-precision RTK positioning equipment is distributed to construction personnel and construction machinery vehicles (taking cranes as an example below). The portable wearable RTK equipment distributed to construction personnel should not hinder the construction of construction personnel, but can accurately locate the position of construction personnel. The construction crane needs to fix the RTK equipment on the boom. Multiple RTK equipment can be fixed and installed according to the length of the boom used. Multiple RTK equipment also needs to be installed and fixed on the crane body.

[0083] When the crane is working, all RTK devices on the crane will upload the current position and elevation information in real time. After receiving the uploaded position data, the server will display it in the substation model. The real-time distance measurement system calculates the real-time distance between the position data uploaded by each RTK device and the equipment in the substation. When the distance of a certain point is less than the safety threshold set by the system, an alarm will be triggered. The server will then send an alarm command to the RTK device that triggered the alarm. The RTK device will remind the personnel working in the construction through sound and light to avoid construction accidents.

[0084] The present invention obtains the positions of each construction worker and construction machinery in real time through a positioning device, and displays the positions of the construction workers and construction machinery in the substation panoramic model based on the substation panoramic model of the laser point cloud. Then, according to the substation panoramic model and the positions of the construction workers and construction machinery, the distance between the construction workers and construction machinery and the substation equipment is calculated and compared with the set safety distance threshold. When it is less than the safety distance threshold, an alarm message is issued through the positioning device. Real-time, accurate and comprehensive substation construction safety distance monitoring is achieved.

[0085] The present invention uses laser point cloud equipment plus RTK modeling to make the equipment location information in the substation more accurate. High-precision RTK positioning equipment can accurately reflect the operating range and operating radius of personnel and mechanical vehicles, accurately calculate the distance to the equipment in the station, and provide timely feedback and reminders to construction workers when an alarm is triggered. By digitizing the substation model and the construction process, the safety of the construction workers is ensured, as well as the safety of construction machinery and equipment in the station.

[0086] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A monitoring method for a substation construction monitoring system, characterized in that: The substation construction monitoring system includes a server and multiple positioning devices, each construction worker wears one positioning device, each construction machine is equipped with at least one positioning device, and the positioning device is connected to the server through a network; Wherein, the monitoring method comprises: S1: The positioning device uploads its own location information to the server in real time; S2: the server loads a pre-established substation panoramic model, wherein the substation panoramic model includes models of various substation equipment; S3: the server receives the location information uploaded by the positioning device in real time, and displays the model of each construction worker and construction machinery in the substation panoramic model according to the received location information; S4: The server calculates in real time the distance between the model of each construction worker and construction machine and the model of each substation equipment; S5: The server compares the calculated distance with a preset safety distance threshold, and if the calculated distance is less than the safety distance threshold, sends an alarm message to the corresponding positioning device; S6: After receiving the alarm information, the positioning device issues an alarm prompt.

2. The monitoring method of the substation construction monitoring system according to claim 1, characterized in that: The S2 includes: S21: the server loads the substation panoramic cloud data pre-scanned by a laser radar device; S22: The server converts the longitude, latitude and altitude data of each point of the substation panoramic cloud data into X, Y and Z values ​​of the UTM coordinate system to obtain a substation panoramic model including models of various substation equipment.

3. The monitoring method of the substation construction monitoring system according to claim 2, characterized in that: The S2 further includes: S23: The server sets a powered state flag for each point of the model of the selected substation equipment to distinguish the powered state and the non-powered state of the selected substation equipment.

4. The monitoring method of the substation construction monitoring system according to claim 2 or 3, characterized in that: The S3 includes: S31: the server receives the location information uploaded by the positioning device in real time; S32: the server converts the longitude, latitude and altitude data in each received location information into X, Y and Z values ​​of the UTM coordinate system; S33: The server displays the construction personnel and construction machinery in the substation panoramic model in the form of proportional models according to the construction personnel and construction machinery corresponding to each positioning device.

5. The monitoring method of the substation construction monitoring system according to claim 4, characterized in that: The construction machine is equipped with a plurality of positioning devices at a plurality of installation positions, and the plurality of positioning devices obtain position information of a plurality of positions of the construction machine, thereby determining the position and movement of the construction machine through the position information of the plurality of positions; The S33 includes: the server determines the position and movement of the construction machinery according to the installation positions of multiple positioning devices of the construction machinery, and displays the construction machinery in the substation panoramic model in the form of a proportional model according to the determined position and movement.

6. The monitoring method of the substation construction monitoring system according to claim 5, characterized in that: The construction machinery is a crane, and a positioning device is respectively installed at the top, middle and bottom of the crane arm, and a plurality of positioning devices are installed at set positions on the body of the crane.

7. The monitoring method of the substation construction monitoring system according to claim 4, characterized in that: The S3 further includes: S34: The server displays the movement tracks of the construction personnel and construction machinery in real time in the panoramic model of the substation.

8. The monitoring method of the substation construction monitoring system according to claim 4, characterized in that: The process before S32 also includes: the server denoising, compensating and storing the location information.

9. The monitoring method of the substation construction monitoring system according to claim 4, characterized in that: The S4 includes: S41: The server extracts the model of the nearest substation equipment according to the model of any construction worker and construction machinery; S42: the server extracts a portion of edge points closest to the models of the construction personnel and the construction machinery from the extracted model of the substation equipment as feature points of the model of the substation equipment; S43: The server calculates the distance between each feature point and the models of the construction personnel and the construction machinery, and takes the minimum value of all calculated distances.

10. The monitoring method of the substation construction monitoring system according to claim 1, characterized in that: The positioning device is a real-time dynamic differential positioning device, the positioning device is equipped with a SIM card, and the alarm prompt issued by the positioning device is an audible and visual alarm.

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