Transformer substation safety management and control method and system based on power equipment model library

Abstract

The invention discloses a substation safety management and control method and system based on a power equipment model library, and relates to the technical field of substations, and the method specifically comprises the steps that a running state parameter collection module obtains the running state parameter information of each power equipment in a substation according to a plurality of sensors; the control module sends an inspection instruction to the inspection module according to the substation environment when the operation state parameter information of the power equipment meets a preset condition; the inspection module acquires image data and point cloud data of the transformer substation by using mobile measurement equipment; the remote monitoring terminal resolves and preprocesses the image data and the point cloud data uploaded by the communication module, completes equipment monotonization based on a power equipment model library, simulates a real scene of a transformer substation by using a 3D modeling technology, judges whether power equipment is abnormal or not, and sends alarm information to field staff through an alarm device. According to the invention, the efficiency and accuracy of intelligent power station safety monitoring can be improved, and intelligent and autonomous transformer station safety management and control can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of substations, and more particularly to a substation safety management and control method and system based on a power equipment model library. Background Art

[0002] The power grid is an important infrastructure for national development and normal social operation, an important link in the rational distribution and utilization of energy, and an important part of the national comprehensive construction system. In recent years, with the increasing requirements for power supply quality, sustainable development and improving the level of economic development, the concept of smart grid has been gradually proposed, which can not only improve the reliability and stability of power supply, but also promote the intensive development and utilization of coal-fired power, hydropower, nuclear power and large-scale renewable energy, and better optimize the quality of power.

[0003] In the entire power system, substations are at the core, and smart substations are a prerequisite for the development of smart grids. Their reliability directly determines the monitoring and operation capabilities of smart grid equipment, and provides technical support for integrated control and operation and maintenance. In traditional substation safety monitoring methods, they often rely on inspections by operation and maintenance personnel, who obtain information on equipment status through sight, hearing, smelling, and touching, and keep operation records, which has certain limitations; in addition, the operation reliability of online monitoring devices is poor, and some interference factors will affect the safe and reliable operation of the system. Test accuracy and stability verification are important issues facing online monitoring devices.

[0004] Therefore, how to improve the efficiency and accuracy of smart power station safety monitoring and realize intelligent and autonomous substation safety management and control is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] In view of this, the present invention provides a substation safety management and control method and system based on an electric power equipment model library, which solves the problems existing in the background technology.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A substation safety management and control system based on a power equipment model library, comprising:

[0008] The operating status parameter acquisition module is used to obtain the operating status parameter information of each power equipment in the substation based on a number of sensors;

[0009] A control module is used to determine whether the operating status parameter information meets the preset conditions, and when the operating status parameter information of the power equipment meets the preset conditions, a patrol instruction is sent to the patrol module according to the substation environment;

[0010] The patrol module is used to patrol the substation using mobile measurement equipment according to patrol instructions to obtain image data and point cloud data of the substation;

[0011] Communication module, used to upload the collected image data and point cloud data to the remote monitoring terminal;

[0012] Remote monitoring terminal, used to solve and pre-process image data and point cloud data, complete equipment individualization based on the power equipment model library, use 3D modeling technology to simulate the real scene of the substation, determine whether the power equipment is abnormal, and if there is an abnormality, send a warning signal to the alarm device through the communication module;

[0013] The alarm device is used to send alarm information to on-site staff based on the received early warning signal.

[0014] Optionally, the operating status parameter collection module includes:

[0015] A current sensor is arranged inside the power equipment to detect the current in the system;

[0016] A voltage sensor is arranged outside the power equipment and is used to detect the voltage in the system;

[0017] The temperature sensor is magnetically mounted on the power equipment to collect the temperature of the power equipment;

[0018] The leakage sensor is fixedly installed on the inner wall of one side of the power equipment to detect whether the power equipment has leakage;

[0019] The smoke sensor is installed inside the power equipment to detect the smoke concentration in the space where the power equipment is located;

[0020] The signal output ends of the current sensor, the voltage sensor, the temperature sensor, the leakage sensor, and the smoke sensor are electrically connected to the signal input end of the control module through wires.

[0021] Optionally, the control module includes:

[0022] A judgment submodule, used to compare the collected operating status parameter information of the power equipment with the corresponding preset threshold value to judge whether the current operating status of the power equipment meets the preset condition;

[0023] The planning submodule is used to determine the detection range and angle blind area of ​​the preliminarily selected measuring points and use the ant colony algorithm to select the minimum measuring points required to complete the inspection of all power equipment, and formulate the inspection route of the mobile measuring equipment based on the selected measuring points;

[0024] The instruction generation submodule is used to generate inspection instructions according to the inspection route formulated by the planning submodule when the current operating status of the power equipment meets the preset conditions.

[0025] Optionally, the mobile measurement equipment includes a drone and a camera and a laser scanner mounted on the drone;

[0026] Cameras, used to capture the environment around several power equipment and obtain image data of the substation;

[0027] Laser scanners are used to detect the locations of several power equipment and obtain point cloud data of the substation;

[0028] The UAV includes: a positioning module, a tracking control module and a flight control module. The tracking control module uses the positioning module to determine the position coordinates of the UAV, and cooperates with the flight control module to automatically control the UAV to complete the inspection of the substation according to the inspection instructions.

[0029] Optionally, the remote control terminal includes:

[0030] The solution module is used to use the solution software to configure the coordinate parameters of the collected point cloud data and image data for POS solution, and obtain the point cloud data and image data that meet the accuracy requirements through data adjustment and correction processing;

[0031] The pre-processing module is used to filter, thin out and smooth the solved point cloud data, and align the processed point cloud data and image data at the same coordinate position;

[0032] The segmentation and recognition module is used to semantically classify the panoramic image of the substation according to different types of power equipment in the processed image data, and correspond the classification results with the standard models in the power equipment model library to complete the equipment individualization;

[0033] Modeling module, used to simulate the real scene of substation according to the equipment monomer results by using 3D modeling technology to generate a three-dimensional model of substation;

[0034] The abnormality identification module is used to judge whether the power equipment is abnormal based on the substation three-dimensional model and the equipment individualization results, and determine the type and location of the power equipment.

[0035] Optionally, the power equipment model library is constructed in the following manner:

[0036] The standard structure of the template file is set based on big data, the power equipment is decomposed into several components and the corresponding template models are established respectively, and the template file is stored and read to distinguish the characteristics of each component for retrieval information;

[0037] Matching the point cloud data of the electric power equipment with the template model to obtain the attribute information of the electric power equipment represented by the point cloud data, and saving the attribute information in association with the point cloud data;

[0038] Confirm the connection relationship between a certain template model and other template models, generate a link model, and construct a topology map consisting of all link models;

[0039] Design the overall storage structure of the model library, store each template model and the attribute information of the corresponding power equipment in a hierarchical manner, retrieve and read different types of power equipment template files, and establish a power equipment model library.

[0040] Optionally, the communication module includes: a first communication component connected to the mobile measurement device, and a second communication component connected to the remote monitoring terminal;

[0041] The first communication component is any one of WiFi, Lora, Zigbee or wired communication;

[0042] The second communication component is any one of 4G communication, 5G communication or fiber optic communication.

[0043] Optionally, the warning signal is a buzzer alarm and / or a flashing warning light.

[0044] A method for a substation safety management and control system based on a power equipment model library as described in any one of the above items comprises the following steps:

[0045] Use several sensors to obtain the operating status parameter information of each power equipment in the substation;

[0046] Determine whether the operating status parameter information meets the preset conditions. When the operating status parameter information of the power equipment meets the preset conditions, use the mobile measurement equipment to patrol the substation, obtain the image data and point cloud data of the substation and upload them to the remote monitoring terminal through the communication module;

[0047] The remote monitoring terminal solves and pre-processes the image data and point cloud data, completes the equipment individualization based on the power equipment model library, uses 3D modeling technology to simulate the real scene of the substation, and determines whether the power equipment is abnormal. If there is an abnormality, an alarm message is sent to the on-site staff through the alarm device.

[0048] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a substation safety management method and system based on a power equipment model library, which can simulate the real scene of the substation, improve the efficiency and accuracy of the smart power station safety monitoring, realize intelligent and autonomous substation safety management, and ensure safety. Among them, the construction of the power equipment model library can provide support for the monitoring of power equipment in the substation, making up for the shortcomings of three-dimensional reconstruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0050] Figure 1 This is a structural diagram of the substation safety management and control system based on the power equipment model library provided by the present invention. DETAILED DESCRIPTION

[0051] 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.

[0052] The embodiment of the present invention discloses a substation safety management and control system based on a power equipment model library, such as Figure 1 As shown, including:

[0053] The operating status parameter acquisition module is used to obtain the operating status parameter information of each power equipment in the substation based on a number of sensors;

[0054] A control module is used to determine whether the operating status parameter information meets the preset conditions, and when the operating status parameter information of the power equipment meets the preset conditions, a patrol instruction is sent to the patrol module according to the substation environment;

[0055] The patrol module is used to patrol the substation using mobile measurement equipment according to patrol instructions to obtain image data and point cloud data of the substation;

[0056] Communication module, used to upload the collected image data and point cloud data to the remote monitoring terminal;

[0057] Remote monitoring terminal, used to solve and pre-process image data and point cloud data, complete equipment individualization based on the power equipment model library, use 3D modeling technology to simulate the real scene of the substation, determine whether the power equipment is abnormal, and if there is an abnormality, send a warning signal to the alarm device through the communication module;

[0058] The alarm device is used to send alarm information to on-site staff based on the received early warning signal.

[0059] Furthermore, in a specific implementation manner, the operating status parameter acquisition module includes:

[0060] The current sensor is small in size and is installed inside the power equipment to detect the current in the system;

[0061] The voltage sensor is air-insulated, has a large size, is installed on the outside of the power equipment, and is used to detect the voltage in the system;

[0062] The temperature sensor is magnetically mounted on the power equipment to collect the temperature of the power equipment;

[0063] The leakage sensor is fixedly installed on the inner wall of one side of the power equipment to detect whether the power equipment has leakage;

[0064] The smoke sensor is installed inside the power equipment to detect the smoke concentration in the space where the power equipment is located;

[0065] The signal output ends of the current sensor, the voltage sensor, the temperature sensor, the leakage sensor, and the smoke sensor are electrically connected to the signal input end of the control module through wires.

[0066] In this embodiment, the operating status of each power device is first detected in real time through a number of sensors. When the detected data exceeds the corresponding preset threshold, it is considered that the power device may be abnormal. However, this judgment alone is prone to misjudgment, wasting manpower and material resources. In this embodiment, the monitoring accuracy can be improved by combining the sensor monitoring with the drone inspection.

[0067] Furthermore, in a specific implementation, the control module includes:

[0068] A judgment submodule, used to compare the collected operating status parameter information of the power equipment with the corresponding preset threshold value to judge whether the current operating status of the power equipment meets the preset condition;

[0069] The planning submodule is used to determine the detection range and angle blind area of ​​the preliminarily selected measuring points and use the ant colony algorithm to select the minimum measuring points required to complete the inspection of all power equipment, and formulate the inspection route of the mobile measuring equipment based on the selected measuring points;

[0070] The instruction generation submodule is used to generate inspection instructions according to the inspection route formulated by the planning submodule when the current operating status of the power equipment meets the preset conditions.

[0071] In addition, when planning the inspection route, first determine the substation area that needs to be inspected, set the basic coordinate system and benchmark elevation, understand the terrain conditions and obstacle obstructions in the area, formulate the route based on the flight constraints of the drone, and make dynamic adjustments based on demand or actual conditions.

[0072] Specifically, due to the large number of power equipment in the substation, if each measuring point of the power equipment is stopped, the energy loss of the drone will increase. The planning submodule of this embodiment will preliminarily select the measuring points according to the plane map of the substation, and determine the detection range and visual blind spot of each measuring point through the maximum detection distance and maximum detection angle of the drone. Among the measuring points with the same inspection function, the best measuring point is selected as the drone stopping point with the highest detection quality. After that, the inspection route is planned according to all the selected best measuring points to reduce the energy consumption of the drone.

[0073] Further, in a specific embodiment, the mobile measurement device includes a drone and a camera and a laser scanner mounted on the drone;

[0074] Cameras, used to capture the environment around several power equipment and obtain image data of the substation;

[0075] Laser scanners are used to detect the locations of several power equipment and obtain point cloud data of the substation;

[0076] The UAV includes: a positioning module, a tracking control module and a flight control module. The tracking control module uses the positioning module to determine the position coordinates of the UAV, and cooperates with the flight control module to automatically control the UAV to complete the inspection of the substation according to the inspection instructions.

[0077] In addition, a viewing angle adjustment unit can be designed on the drone to drive the camera to rotate in the vertical / horizontal plane, increasing the viewing angle and shooting direction, overcoming the limitation that traditional technology can only shoot from a vertical angle, and helping to truly reflect the actual situation of the substation.

[0078] Specifically, the camera mounted on the drone can perform oblique photography according to the planned flight trajectory, collecting image data of the substation, location information attached to the photo, differential positioning information, POS data and other image data; among which, POS data includes latitude, longitude, elevation, heading angle, pitch angle and roll angle, etc.

[0079] Furthermore, in a specific implementation, the remote control terminal includes:

[0080] The solution module is used to use the solution software to configure the coordinate parameters of the collected point cloud data and image data for POS solution. Through data adjustment and correction processing, point cloud data and image data that meet the accuracy requirements are obtained. It can effectively solve complex image solutions such as large deflection angle, large height difference, weak texture, etc., and improve data accuracy;

[0081] The preprocessing module is used to filter, thin out and smooth the solved point cloud data, and align the processed point cloud data and image data at the same coordinate position; filtering can remove noise points and outliers, and the dense part of the point cloud in the point cloud image can be thinned out and smoothed at a certain ratio, so that the collected data is more comprehensive, and the quality and accuracy of subsequent model construction are improved;

[0082] The segmentation and recognition module is used to semantically classify the panoramic image of the substation according to different types of power equipment in the processed image data, and correspond the classification results with the standard models in the power equipment model library to complete the equipment individualization;

[0083] Modeling module, used to simulate the real scene of substation according to the equipment monomer results by using 3D modeling technology to generate a three-dimensional model of substation;

[0084] The abnormality identification module is used to judge whether the power equipment is abnormal based on the substation three-dimensional model and the equipment individualization results, and determine the type and location of the power equipment.

[0085] Furthermore, in a specific implementation manner, the power equipment model library is constructed in the following manner:

[0086] The standard structure of the template file is set based on big data, the power equipment is decomposed into several components and the corresponding template models are established respectively, and the template file is stored and read to distinguish the characteristics of each component for retrieval information;

[0087] Matching the point cloud data of the electric power equipment with the template model to obtain the attribute information of the electric power equipment represented by the point cloud data, and saving the attribute information in association with the point cloud data;

[0088] Confirm the connection relationship between a certain template model and other template models, generate a link model, and construct a topology map consisting of all link models;

[0089] Design the overall storage structure of the model library, store each template model and the attribute information of the corresponding power equipment in a hierarchical manner, retrieve and read different types of power equipment template files, and establish a power equipment model library.

[0090] Further, in a specific embodiment, the communication module includes: a first communication component connected to the mobile measurement device, a second communication component connected to the remote monitoring terminal;

[0091] The first communication component is any one of WiFi, Lora, Zigbee or wired communication;

[0092] The second communication component is any one of 4G communication, 5G communication or fiber optic communication.

[0093] Furthermore, in a specific implementation, the early warning signal is a buzzer alarm and / or a flashing warning light to remind on-site staff to pay attention to abnormalities in power equipment. In addition, when there is an emergency that requires on-site personnel at the substation to handle, the remote monitoring terminal can issue an emergency task through the background and push it directly to the AR device of the operation and maintenance personnel to realize the function of on-site task processing; when the operation and maintenance personnel do not have the conditions to complete the task, remote experts can be used to assist in guiding the front-line personnel.

[0094] In addition, an embodiment of the present invention further discloses a method for applying the substation safety management and control system based on the power equipment model library as described above, comprising the following steps:

[0095] Use several sensors to obtain the operating status parameter information of each power equipment in the substation;

[0096] Determine whether the operating status parameter information meets the preset conditions. When the operating status parameter information of the power equipment meets the preset conditions, use the mobile measurement equipment to patrol the substation, obtain the image data and point cloud data of the substation and upload them to the remote monitoring terminal through the communication module;

[0097] The remote monitoring terminal solves and pre-processes the image data and point cloud data, completes the equipment individualization based on the power equipment model library, uses 3D modeling technology to simulate the real scene of the substation, and determines whether the power equipment is abnormal. If there is an abnormality, an alarm message is sent to the on-site staff through the alarm device.

[0098] In summary, the embodiment of the present invention uses mobile measurement equipment to collect image data and point cloud data of the substation and preprocess it, semantically classifies the preprocessed image data, realizes equipment individualization, superimposes the connection relationship between a certain equipment model and the remaining models with the template model and further 3D modeling, and can simulate the real scene of the substation. On this basis, the intelligent monitoring of the substation can be completed to ensure safety. Among them, when constructing the power equipment model library, the point cloud data of the power equipment is processed and matched with the template to obtain the attribute information of the power equipment represented by the point cloud data, and it is saved in association with the point cloud data, which can provide support for the monitoring of power equipment in the substation and make up for the shortcomings of three-dimensional reconstruction.

[0099] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. As for the method disclosed in the embodiment, since it corresponds to the system disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0100] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A substation safety management and control system based on a power equipment model library, characterized in that: include: The operating status parameter acquisition module is used to obtain the operating status parameter information of each power equipment in the substation based on a number of sensors; A control module is used to determine whether the operating status parameter information meets the preset conditions, and when the operating status parameter information of the power equipment meets the preset conditions, a patrol instruction is sent to the patrol module according to the substation environment; The patrol module is used to patrol the substation using mobile measurement equipment according to patrol instructions to obtain image data and point cloud data of the substation; Communication module, used to upload the collected image data and point cloud data to the remote monitoring terminal; Remote monitoring terminal, used to solve and pre-process image data and point cloud data, complete equipment individualization based on the power equipment model library, use 3D modeling technology to simulate the real scene of the substation, determine whether the power equipment is abnormal, and if there is an abnormality, send a warning signal to the alarm device through the communication module; The alarm device is used to send alarm information to on-site staff based on the received early warning signal.

2. A substation safety management and control system based on a power equipment model library according to claim 1, characterized in that: The operating status parameter collection module includes: A current sensor is arranged inside the power equipment to detect the current in the system; A voltage sensor is arranged outside the power equipment and is used to detect the voltage in the system; The temperature sensor is magnetically mounted on the power equipment to collect the temperature of the power equipment; The leakage sensor is fixedly installed on the inner wall of one side of the power equipment to detect whether the power equipment has leakage; The smoke sensor is installed inside the power equipment to detect the smoke concentration in the space where the power equipment is located; The signal output ends of the current sensor, the voltage sensor, the temperature sensor, the leakage sensor, and the smoke sensor are electrically connected to the signal input end of the control module through wires.

3. A substation safety management and control system based on a power equipment model library according to claim 1, characterized in that: The control module includes: A judgment submodule, used to compare the collected operating status parameter information of the power equipment with the corresponding preset threshold value to judge whether the current operating status of the power equipment meets the preset condition; The planning submodule is used to determine the detection range and angle blind area of ​​the preliminarily selected measuring points and use the ant colony algorithm to select the minimum measuring points required to complete the inspection of all power equipment, and formulate the inspection route of the mobile measuring equipment based on the selected measuring points; The instruction generation submodule is used to generate inspection instructions according to the inspection route formulated by the planning submodule when the current operating status of the power equipment meets the preset conditions.

4. A substation safety management and control system based on a power equipment model library according to claim 1, characterized in that: Mobile measurement equipment includes drones and cameras and laser scanners mounted on drones; Cameras, used to capture the environment around several power equipment and obtain image data of the substation; Laser scanners are used to detect the locations of several power equipment and obtain point cloud data of the substation; The UAV includes: a positioning module, a tracking control module and a flight control module. The tracking control module uses the positioning module to determine the position coordinates of the UAV, and cooperates with the flight control module to automatically control the UAV to complete the inspection of the substation according to the inspection instructions.

5. A substation safety management and control system based on a power equipment model library according to claim 1, characterized in that: The remote control terminal includes: The solution module is used to use the solution software to configure the coordinate parameters of the collected point cloud data and image data for POS solution, and obtain the point cloud data and image data that meet the accuracy requirements through data adjustment and correction processing; The pre-processing module is used to filter, thin out and smooth the solved point cloud data, and align the processed point cloud data and image data at the same coordinate position; The segmentation and recognition module is used to semantically classify the panoramic image of the substation according to different types of power equipment in the processed image data, and correspond the classification results with the standard models in the power equipment model library to complete the equipment individualization; Modeling module, used to simulate the real scene of substation according to the equipment monomer results by using 3D modeling technology to generate a three-dimensional model of substation; The abnormality identification module is used to judge whether the power equipment is abnormal based on the substation three-dimensional model and the equipment individualization results, and determine the type and location of the power equipment.

6. A substation safety management and control system based on a power equipment model library according to claim 1, characterized in that: The construction method of the power equipment model library is as follows: The standard structure of the template file is set based on big data, the power equipment is decomposed into several components and the corresponding template models are established respectively, and the template file is stored and read to distinguish the characteristics of each component for retrieval information; Matching the point cloud data of the electric power equipment with the template model to obtain the attribute information of the electric power equipment represented by the point cloud data, and saving the attribute information in association with the point cloud data; Confirm the connection relationship between a certain template model and other template models, generate a link model, and construct a topology map consisting of all link models; Design the overall storage structure of the model library, store each template model and the attribute information of the corresponding power equipment in a hierarchical manner, retrieve and read different types of power equipment template files, and establish a power equipment model library.

7. A substation safety management and control system based on a power equipment model library according to claim 1, characterized in that: The communication module includes: a first communication component connected to the mobile measurement device, and a second communication component connected to the remote monitoring terminal; The first communication component is any one of WiFi, Lora, Zigbee or wired communication; The second communication component is any one of 4G communication, 5G communication or fiber optic communication.

8. A substation safety management and control system based on a power equipment model library according to claim 1, characterized in that: The warning signal is a buzzer alarm and / or flashing warning light.

9. A method for a substation safety management and control system based on a power equipment model library as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: Use several sensors to obtain the operating status parameter information of each power equipment in the substation; Determine whether the operating status parameter information meets the preset conditions. When the operating status parameter information of the power equipment meets the preset conditions, use the mobile measurement equipment to patrol the substation, obtain the image data and point cloud data of the substation and upload them to the remote monitoring terminal through the communication module; The remote monitoring terminal solves and pre-processes the image data and point cloud data, completes the equipment individualization based on the power equipment model library, uses 3D modeling technology to simulate the real scene of the substation, and determines whether the power equipment is abnormal. If there is an abnormality, an alarm message is sent to the on-site staff through the alarm device.

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