Power transmission cable laying safety management system and method

Abstract

The invention discloses a power transmission cable laying safety management system, and the system comprises an acquisition module which comprises a laser unit and an image unit, the laser unit is used for collecting a working area environment in real time and generating a point cloud coordinate group, and the image unit is used for collecting image information of the working area environment in real time and generating a three-dimensional model data group; the modeling module is used for processing the point cloud coordinate group and the three-dimensional model data set which are respectively generated by the laser unit and the image unit and generating a working area model; the prediction module comprises a power transmission line height limiting unit, a power transmission line swing prediction unit and a dangerous tree prediction unit; the input end of the display device is connected with the output ends of the prediction module and the monitoring module; all the modules are mutually connected through a communication network. According to the invention, the safety of laying and maintenance of the power transmission line is improved, accidents are reduced, and the efficiency and accuracy of maintenance work are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional space monitoring of power transmission equipment, and in particular to a power transmission cable laying safety management system and method. Background Art

[0002] With the growing demand for energy, the number and scale of land-based power generation facilities are also expanding. Land-based power generation facilities mainly refer to various power stations and transmission equipment built on land, which are used to convert different forms of energy into electrical energy. During the installation and operation of power generation facilities, safety accidents are prone to occur due to equipment aging, operational errors, environmental factors and other reasons, seriously threatening people's lives and property safety. At present, when supervising the safety of land power transmission, it is necessary to control the surrounding environment and conduct predictability simulation. However, the existing technology is still difficult to achieve comprehensive monitoring and evaluation of the safety of power transmission equipment and timely warning, which is not conducive to managers to make corresponding improvement and adjustment measures in time. The supervision is difficult and the management cost is high, and the level of intelligence is low. Therefore, a solution is proposed to address the above-mentioned management defects. Summary of the invention

[0003] In order to overcome the problems in the prior art, the purpose of the present invention is to provide a transmission cable laying safety management system and method to improve the safety of transmission line laying and maintenance, reduce the occurrence of accidents, and improve the efficiency and accuracy of maintenance work.

[0004] To achieve the above object, the present invention provides a transmission cable laying safety management system, comprising: The acquisition module includes a laser unit and an image unit, wherein the laser unit is used to acquire the working area environment in real time and generate a point cloud coordinate group, and the image unit is used to photograph the working area environment in real time to obtain image information and generate a three-dimensional model data group; A modeling module, used for processing the point cloud coordinate group and the three-dimensional model data group generated by the laser unit and the image unit respectively and generating a working area model; The prediction module includes a transmission line height limit unit, a transmission line swing prediction unit and a dangerous tree prediction unit, wherein the transmission line height limit unit is used to calculate the current height limit position according to a preset safety range and the coordinates of the transmission line, and the output end of the transmission line height limit unit is connected to the transmission line swing prediction unit, and the transmission line swing prediction unit is used to calculate the height limit position of the future period according to the swing coordinates of the transmission line corresponding to the preset wind force, and the output end of the transmission line swing prediction unit is connected to the dangerous tree prediction unit, and the dangerous tree prediction unit calculates the highest coordinates of the trees in the future period according to the preset tree growth cycle trend, and marks the trees whose highest coordinates exceed the height limit position of the future period as dangerous trees; A display device, wherein an input end of the display device is connected to output ends of the prediction module and the monitoring module; All modules are interconnected through a communication network.

[0005] Furthermore, the laser unit includes at least two laser measuring devices, which are respectively arranged on the ground and above the working area to be measured. The laser measuring device located on the ground emits laser upwards, and the laser measuring device located in the air emits laser downwards to generate a point cloud coordinate group.

[0006] Further, the modeling module includes a data processing unit and a data modeling unit, the data processing unit is used to receive the point cloud coordinate group and the three-dimensional model data group generated by the laser unit and the image unit respectively, and subtract the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group, and the data processing subunit has a comparison threshold set therein; When the difference between the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group exceeds the comparison threshold range, a request for retrieving on-site measurement is issued, and the data recorded in the on-site measurement is used as a data set of the working area model and output to the data modeling unit; When the difference between the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group does not exceed the comparison threshold range, the average value of the sum of the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group is used as the data set of the working area model and output to the data modeling unit; The data modeling unit performs preprocessing of outliers removal, simplification and smoothing on the data set of the working area model, and generates the working area model according to the processed data set of the working area model.

[0007] Furthermore, the transmission line height limiting unit presets a safety range threshold, and calculates the current height limit position based on the coordinates of the lowest sag point of the transmission line obtained in real time. When it is detected that an object exceeds the height limit position, an alarm signal is transmitted to the display device; the transmission line height limiting unit outputs the safety range threshold to the transmission line swing prediction unit.

[0008] Furthermore, the transmission line swing prediction unit presets multiple wind forces corresponding to the transmission line limit swing coordinates according to the transmission line sag coordinates, obtains the wind force information in the future period, and calculates the future period height limit position according to the transmission line limit swing coordinates corresponding to the future maximum wind force and the safety range threshold. The transmission line swing prediction unit outputs the future period height limit position to the dangerous tree prediction unit.

[0009] Furthermore, the dangerous tree prediction subunit presets the tree growth trend in the future period, calculates the growth coordinates predicted in the future period based on the current tree coordinates, and marks the trees whose predicted growth coordinates in the future period exceed the height limit position in the future period as dangerous trees.

[0010] Furthermore, the transmission line swing prediction unit monitors the transmission line limit swing coordinates under different wind forces in real time, and when the actually monitored transmission line limit swing coordinates are greater than the preset transmission line limit swing coordinates corresponding to the wind force, the transmission line swing prediction unit sends a maintenance signal.

[0011] The present invention also provides a method for managing the safety of laying power transmission cables, which is used to implement the above-mentioned power transmission cable laying safety management system, comprising: S1: Start the control terminal, send out an environment scanning signal, use the laser unit to generate a point cloud coordinate group, and use the image unit to capture the surrounding environment image information to generate a three-dimensional model; obtain the point cloud coordinate group and the three-dimensional model data group, and obtain the data set of the working area model by comparing and adjusting the three-dimensional coordinates of the calculated point cloud coordinate group and the three-dimensional model data group, and establish the working area model according to the data set of the working area model; S2: Obtain the current transmission line and tree morphology, wind force information in the future period, and predict the future transmission line morphology and tree growth trend based on the preset height limit safety range threshold. Mark the trees that exceed the safety range threshold in the future period as dangerous trees.

[0012] Further, the method in step S2 is specifically as follows: S21: The preset safety range threshold, the coordinates of the lowest sag point of the transmission line obtained in real time, calculate the current height limit position, and when an object is detected exceeding the height limit position, transmit the alarm information to the display device.

[0013] S22: Preset multiple wind speed corresponding to the transmission line limit swing coordinates, obtain wind speed information and safety range thresholds in future periods, calculate and define the height limit position in future periods, and output the future height limit position to a display device.

[0014] S23: Preset the tree growth trend in the future period, obtain the current tree coordinates, calculate the growth coordinates of the trees in the future period, mark the trees whose highest coordinates predicted in the future period exceed the height limit of the future period as dangerous trees, and output the dangerous trees to the display device.

[0015] The present invention provides a transmission cable laying safety management system and method, which aims to improve the safety of the laying and maintenance process of transmission lines. The system uses laser radar and image technology to collect the surrounding environment to generate a work area model. The prediction module evaluates future risks based on the work area model, such as the impact of wind on the swing of transmission lines, the potential threat of tree growth to transmission lines, etc., and issues corresponding warnings. The application of the present invention can significantly improve the safety of transmission line laying, operation and maintenance, reduce the occurrence of accidents, and improve the efficiency and accuracy of maintenance work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A structural diagram of a power transmission cable laying safety management system provided in Example 1 of the present invention; Figure 2 A structural diagram of a prediction module in a power transmission cable laying safety management system provided in Example 1 of the present invention; Figure 3 A flow chart of a power transmission cable laying safety management method provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0017] This embodiment provides a transmission cable laying safety management system, such as Figure 1 As shown, including: The acquisition module includes a laser unit and an image unit. The laser unit is used to acquire the working area environment in real time and generate a point cloud coordinate group. The image unit is used to acquire the working area environment image information in real time and generate a three-dimensional model data group.

[0018] A modeling module, used for processing the point cloud coordinate group and the three-dimensional model data group generated by the laser unit and the image unit respectively and generating a working area model; The prediction module includes a transmission line height limit unit, a transmission line swing prediction unit, and a dangerous tree prediction unit, such as Figure 2 As shown, the transmission line height limit unit is used to calculate the current height limit position according to the preset safety range and the coordinates of the transmission line, the output end of the transmission line height limit unit is connected to the transmission line swing prediction unit, the transmission line swing prediction unit is used to calculate the height limit position of the future period according to the swing coordinates of the transmission line corresponding to the preset wind force, the output end of the transmission line swing prediction unit is connected to the dangerous tree prediction unit, the dangerous tree prediction unit calculates the highest coordinates of the trees in the future period according to the preset tree growth cycle trend, and marks the trees whose highest coordinates exceed the height limit position of the future period as dangerous trees.

[0019] A display device, wherein the input end of the display device is connected to the output ends of the prediction module and the monitoring module.

[0020] All modules are interconnected through a communication network.

[0021] Furthermore, the laser unit includes at least two laser measuring devices, which are respectively arranged on the ground and above the working area to be measured. The laser measuring device located on the ground emits laser upwards, and the laser measuring device located in the air emits laser downwards to generate a point cloud coordinate group.

[0022] The laser unit includes at least two laser measuring devices, which are located on the ground and in the air of the space to be measured. The laser measuring device located on the ground emits laser upwards, and the laser measuring device located in the air emits laser downwards. The coverage area of ​​the two laser measuring devices exceeds the working area to be modeled, and a point cloud coordinate group is generated. The image unit is used to obtain the image information of the working area environment in real time and generate a three-dimensional model data group. The laser unit and the image unit output the point cloud coordinate group and the three-dimensional model data group to the modeling unit.

[0023] The modeling module includes a data processing unit and a data modeling unit, wherein the data processing subunit forms control group data with the received point cloud coordinate group and the three-dimensional model data group, performs subtraction on the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group, and the data processing unit has a comparison threshold set therein; When the difference between the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group exceeds the comparison threshold range, a request for retrieving on-site measurement is issued, and the data recorded in the on-site measurement is used as a data set of the working area model and output to the data modeling unit; When the difference between the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group does not exceed the comparison threshold range, the average value of the sum of the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group is used as the data set of the working area model and output to the data modeling unit; The modeling unit performs preprocessing of outliers removal, simplification, and smoothing on the data set of the working area model, and establishes the working area model using the Poisson algorithm and the forward algorithm for the preprocessed data set. The methods of performing preprocessing of outliers removal, simplification, and smoothing on the data set of the working area model and establishing the model using the Poisson algorithm and the forward algorithm are prior arts and will not be described in detail here.

[0024] The transmission line height limiting unit presets a safety range threshold, and calculates the current height limit position based on the coordinates of the lowest sag point of the transmission line obtained in real time. When it is detected that an object exceeds the height limit position, an alarm signal is output to the display device; the transmission line height limiting unit outputs the safety range threshold to the transmission line swing prediction unit.

[0025] Specifically, in the embodiment of the present invention, the coordinates of the lowest sag point of the monitored transmission line are m1 meters, and the preset safety range threshold of the transmission line height limit unit is n meters, then the height limit position of the transmission line is (m1-n) meters.

[0026] The transmission line swing prediction unit presets multiple wind force corresponding to the transmission line limit swing coordinates according to the transmission line sag coordinates, obtains the wind force information in the future period, and calculates the future period height limit position according to the transmission line limit swing coordinates corresponding to the future maximum wind force and the safety range threshold. The transmission line swing prediction unit outputs the future period height limit position to the dangerous tree prediction unit.

[0027] Specifically, in an embodiment of the present invention, based on the sag coordinates of the transmission line, the maximum swing amplitude of the corresponding transmission line under different wind forces is preset, the coordinates of the highest point and the lowest point that the transmission line may reach under different wind forces are recorded, and the wind force data for the next week is obtained. The highest wind force in the next week may reach level 3, and the preset lowest coordinate of the transmission line limit swing corresponding to level 3 wind force is m2 meters. The preset height limit position in the next week is (m2-n) meters.

[0028] Furthermore, the transmission line swing prediction unit monitors the extreme swing coordinates of the transmission line under different wind forces in real time. When the actually monitored extreme swing coordinates of the transmission line are greater than the corresponding extreme swing coordinates of the transmission line under the preset wind force, the transmission line swing prediction unit sends a maintenance signal.

[0029] Furthermore, the preset maximum swing amplitude can also be updated according to the transmission line coordinates obtained by actual detection under different wind forces. The specific method is: the maximum and minimum coordinates of the transmission line limit swing of the section under the preset wind force are X1 and X2 meters, and the maximum and minimum coordinates of the transmission line limit swing obtained in the real-time monitoring model are X1' and X2' meters. When the actual transmission line limit swing maximum coordinate X1' meter under the wind force is greater than the preset transmission line limit swing minimum coordinate X1 meter, or the actual transmission line limit swing minimum coordinate X2' meter under the wind force is less than the preset transmission line limit swing minimum coordinate X2 meter, the transmission line swing prediction unit sends a maintenance signal to the display device, and the display device prompts the staff to check whether the shockproof hammer is damaged or missing. When the detection is completed, if the shockproof hammer is flawless, the actual transmission line limit swing maximum coordinate X1' meter or minimum coordinate X2' is updated to the three-dimensional coordinate of the swing limit position under the wind force.

[0030] The dangerous tree prediction subunit identifies the tree species and growth cycles in the working area, presets the growth trends of different tree species and different growth cycles, calculates the growth coordinates predicted for the future cycle based on the current tree coordinates, and marks the trees whose predicted growth coordinates in the future cycle exceed the height limit of the future cycle as dangerous trees.

[0031] Specifically, in an embodiment of the present invention, the tree species in the working area include sycamore trees, and they are in a rainy season with vigorous growth. The sycamore trees are preset to grow 0.1 m per week, and the highest coordinate of the sycamore trees is obtained as m3 meters. The highest coordinate of the sycamore trees in the next week is calculated as (m3+0.1) meters according to the preset growth rate of the sycamore trees. When the highest coordinate of the sycamore trees exceeds the limit of (m1-n) meters of the road section in the next week, the sycamore trees are marked as dangerous trees on an output display device, and the display device prompts staff to prune the sycamore trees.

[0032] Example 2 This embodiment provides a method for safe management of laying power transmission cables. Figure 3 As shown, it is applied to implement the power transmission cable laying safety management system as described in Example 1, including the following steps: S1: Start the control terminal, send out an environment scanning signal, use the laser unit to generate a point cloud coordinate group, and use the image unit to capture the surrounding environment image information to generate a three-dimensional model; obtain the point cloud coordinate group and the three-dimensional model data group, and obtain the data set of the working area model by comparing and adjusting the three-dimensional coordinates of the calculated point cloud coordinate group and the three-dimensional model data group, and establish the working area model according to the data set of the working area model; S2: Obtain the current transmission line and tree morphology, wind information in the future period, and predict the future transmission line morphology and tree growth trend based on the preset height limit safety range threshold, and mark the trees that exceed the safety range threshold in the future period as dangerous trees; Specifically, in step S2, the specific method is: S21: The preset safety range threshold, the coordinates of the lowest sag point of the transmission line obtained in real time, calculate the current height limit position, and when an object is detected exceeding the height limit position, transmit the alarm information to the display device.

[0033] S22: Preset multiple wind speed corresponding to the transmission line limit swing coordinates, obtain wind speed information and safety range thresholds in future periods, calculate and define the height limit position in future periods, and output the future height limit position to a display device.

[0034] S23: Preset the tree growth trend in the future period, obtain the current tree coordinates, calculate the growth coordinates of the trees in the future period, mark the trees whose highest coordinates predicted in the future period exceed the height limit of the future period as dangerous trees, and output the dangerous trees to the display device.

Claims

1. A power transmission cable laying safety management system, characterized in that: include: The acquisition module includes a laser unit and an image unit, wherein the laser unit is used to acquire the working area environment in real time and generate a point cloud coordinate group, and the image unit is used to photograph the working area environment in real time to obtain image information and generate a three-dimensional model data group; A modeling module, used for processing the point cloud coordinate group and the three-dimensional model data group generated by the laser unit and the image unit respectively and generating a working area model; The prediction module includes a transmission line height limit unit, a transmission line swing prediction unit and a dangerous tree prediction unit, wherein the transmission line height limit unit is used to calculate the current height limit position according to a preset safety range and the coordinates of the transmission line, and the output end of the transmission line height limit unit is connected to the transmission line swing prediction unit, and the transmission line swing prediction unit is used to calculate the height limit position of the future period according to the swing coordinates of the transmission line corresponding to the preset wind force, and the output end of the transmission line swing prediction unit is connected to the dangerous tree prediction unit, and the dangerous tree prediction unit calculates the highest coordinates of the trees in the future period according to the preset tree growth cycle trend, and marks the trees whose highest coordinates exceed the height limit position of the future period as dangerous trees; A display device, wherein an input end of the display device is connected to output ends of the prediction module and the monitoring module; All modules are interconnected through a communication network.

2. A power transmission cable laying safety management system according to claim 1, characterized in that: The laser unit includes at least two laser measuring devices, which are respectively arranged on the ground and above the working area to be measured. The laser measuring device located on the ground emits laser upwards, and the laser measuring device located in the air emits laser downwards to generate a point cloud coordinate group.

3. A power transmission cable laying safety management system according to claim 1, characterized in that: The modeling module includes a data processing unit and a data modeling unit. The data processing unit is used to receive the point cloud coordinate group and the three-dimensional model data group generated by the laser unit and the image unit respectively, and to subtract the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group. The data processing subunit has a comparison threshold set therein; When the difference between the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group exceeds the comparison threshold range, a request for retrieving on-site measurement is issued, and the data recorded in the on-site measurement is used as a data set of the working area model and output to the data modeling unit; When the difference between the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group does not exceed the comparison threshold range, the average value of the sum of the three-dimensional coordinates of the point cloud coordinate group and the three-dimensional model data group is used as the data set of the working area model and output to the data modeling unit; The data modeling unit performs preprocessing of outliers removal, simplification and smoothing on the data set of the working area model, and generates the working area model according to the processed data set of the working area model.

4. A power transmission cable laying safety management system according to claim 1, characterized in that: The transmission line height limiting unit presets a safety range threshold, and calculates the current height limit position based on the coordinates of the lowest sag point of the transmission line obtained in real time. When it is detected that an object exceeds the height limit position, an alarm signal is transmitted to the display device; the transmission line height limiting unit outputs the safety range threshold to the transmission line swing prediction unit.

5. A power transmission cable laying safety management system according to claim 4, characterized in that: The transmission line swing prediction unit presets multiple wind force corresponding to the transmission line limit swing coordinates according to the transmission line sag coordinates, obtains the wind force information in the future period, and calculates the future period height limit position according to the transmission line limit swing coordinates corresponding to the future maximum wind force and the safety range threshold. The transmission line swing prediction unit outputs the future period height limit position to the dangerous tree prediction unit.

6. A power transmission cable laying safety management system according to claim 5, characterized in that: The dangerous tree prediction subunit presets the tree growth trend in the future period, calculates the growth coordinates predicted in the future period according to the current tree coordinates, and marks the trees whose predicted growth coordinates in the future period exceed the height limit position in the future period as dangerous trees.

7. A power transmission cable laying safety management system according to claim 5, characterized in that: The transmission line swing prediction unit monitors the extreme swing coordinates of the transmission line under different wind forces in real time. When the actually monitored extreme swing coordinates of the transmission line are greater than the preset extreme swing coordinates of the transmission line under the wind force, the transmission line swing prediction unit sends a maintenance signal.

8. A power transmission cable laying safety management method, applied to a power transmission cable laying safety management system as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: S1: Start the control terminal, send out an environment scanning signal, use the laser unit to generate a point cloud coordinate group, and use the image unit to capture the surrounding environment image information to generate a three-dimensional model; obtain the point cloud coordinate group and the three-dimensional model data group, and obtain the data set of the working area model by comparing and adjusting the three-dimensional coordinates of the calculated point cloud coordinate group and the three-dimensional model data group, and establish the working area model according to the data set of the working area model; S2: Obtain the current transmission line and tree morphology, wind force information in the future period, and predict the future transmission line morphology and tree growth trend based on the preset height limit safety range threshold. Mark the trees that exceed the safety range threshold in the future period as dangerous trees.

9. The power transmission cable laying safety management method according to claim 8, characterized in that: In the step S2, S21: the preset safety range threshold, the coordinates of the lowest sag point of the transmission line obtained in real time, the current height limit position is calculated, and when an object is detected to exceed the height limit position, an alarm message is transmitted to the display device; S22: Preset multiple wind speed corresponding to the transmission line limit swing coordinates, obtain wind speed information and safety range threshold in the future period, calculate and define the height limit position in the future period, and output the future height limit position to the display device; S23: Preset the tree growth trend in the future period, obtain the current tree coordinates, calculate the growth coordinates of the trees in the future period, mark the trees whose highest coordinates predicted in the future period exceed the height limit of the future period as dangerous trees, and output the dangerous trees to the display device.

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